人間-ロボット系の安全性評価 : 第6報,移動ロボットにおける潜在危険制御系の構成について

概要

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In this paper, the architecture of Hazard Control Systems (H. C. S. 's) for mobile robots is discussed based on an A-C Model H. C. Conceptual Design Method. First, two hazards that are typically produced in mobile robot systems are identified. These hazards are"Robot Collision against a Mobile Object". Second, Hazard Restrant Principle (H. R. P) 3 is applied to mobile robot systems for conceptualization of H. C. S. 's involve the following dissociation forms: 1) Stop by braking; 2) Stop by braking control against skid; 3) Stop by multicontrol against turnover; 4) Course control against a single static object ; 5) Course control against multiple static objects; 6) Multicontrol against multiple mobile objects. Then, the applicability of Danger-detection Information Processing Systems or Safety-confirmation Information Processing Systems is examined. Last, the relationships among whole-hazard space, the subhazard spaces where the identified hazards exist, the subhazard spaces where these Information Processing Systems are applicable in principle, and the dissociation forms are represented schematically.
一般社団法人日本機械学会の論文
1989-10-25