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SAFETY ISSUES FOR HUMAN-ROBOT COOPERATION IN MANUFACTURING SYSTEMS

The most revolutionary and challenging feature of the next generation of robots will be physical Human– Robot Interaction (pHRI), where safety and dependability are the keys, also for paving the way to a successful introduction of robots into everyday human environments. In order to increase robot safety, all aspects of manipulator design, including mechanics, electronics, and software, should be considered. Among the possible strategies for achieving safety, one of the focuses is on strategy to prevent collisions. For unstructured domains, a detailed description of the environment is very difficult, if not impossible, to obtain. Therefore, reactive control can be used, in the presence of a good sensory system. Interaction control strategies as impedance control, together with reactive collision avoidance may increase safety by mean of control. Virtual reality can be used for realistic simulations of HRI task, including collisions and injected errors. Moreover, subjective comfort measures related to the use of a robotic manipulator can be accomplished, also related to the perceived safety during robot motion, depending on robot’s shape, speed and posture.