General Danger Evaluation Method for Control Strategy of Human-care Robot.

摘要

A danger evaluation method of various kind of control strategy for human-care robot is first proposed. The impact force and impact stress are chosen as evaluation measures. The danger-index is defined to make quantitative evaluation of the effectiveness for each safety strategy in control strategy. As same as previous paper on safety design, this proposed method enables us to know the contribution of each safety control strategy to the overall safety performance of welfare robot. In addition, new type of robot simulation system for dangerous evaluation is first constructed on workstation. The system simplifies to evaluate the danger about both design and control of human-care robots to quantify the effectiveness of various safety strategies. As a result, the control optimization of the safety robot is described successfully.