Abstract
AbstractCollaborative applications using traditional industrial robots and Speed and Separation Monitoring (SSM per ISO/TS 15066) rely on safe stopping if a Protective Separation Distance (PSD per ISO/TS 15066) is violated. However, larger industrial robots have longer stopping times and their control architectures are not designed for flexible external interaction. Robot manufacturers also provide stopping time and distance data for calculating the PSD, but these data are often fragmented, hard to interpret, and overly conservative. Hence, the “worst-case” PSD calculation for SSM is generally more conservative than warranted. We believe truly fluid human–robot collaboration will be possible but will require a closer interlocking between the robot controller and the safety system and a more precise characterization of robot stopping times and distances. In this paper we describe techniques to improve latencies and response times using SSM with existing robot control architectures. We also propose longer-term alternatives for consideration by the industry.
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