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Safety Controller Synthesis for Collaborative Robots

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Document pages: 10 pages

Abstract: In human-robot collaboration (HRC), software-based automatic safetycontrollers (ASCs) are used in various forms (e.g. shutdown mechanisms,emergency brakes, interlocks) to improve operational safety. Complex robotictasks and increasingly close human-robot interaction pose new challenges to ASCdevelopers and certification authorities. Key among these challenges is theneed to assure the correctness of ASCs under reasonably weak assumptions. Toaddress this need, we introduce and evaluate a tool-supported ASC synthesismethod for HRC in manufacturing. Our ASC synthesis is: (i) informed by themanufacturing process, risk analysis, and regulations; (ii) formally verifiedagainst correctness criteria; and (iii) selected from a design space offeasible controllers according to a set of optimality criteria. The synthesisedASC can detect the occurrence of hazards, move the process into a safe state,and, in certain circumstances, return the process to an operational state fromwhich it can resume its original task.

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