Abstract
This paper describes a design methodology for a human-symbiotic robot manipulator which mainly focuses on guarantee of human's safety and abilities of human-robot collaboration. In this paper, we classify the safety design parameters into four categories, such as shock absorption materials, motion controls, collision statements, and safety indices.First, physical models of shock absorption covers, realization of emergency stop and passive impedance control, experimental conditions of generalized human-robot collision, and severity indices for producing moderate injury are described. Next, human-robot collisions are simulated through a combination of there parameters, and the effects of each parameter on anticollision safety are arranged. Then, the several remarks for deciding design parameters are conducted from the experiment and simulation results.As the summarization of this paper, a safety design and control methodology for human symbiotic robot manipulator is proposed by synthesizing these remarks.
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