2A1-A18 スキルアシストのなめらかな自動/手動制御モード切り換えのためのリーチングモニタリング(安全・安心なロボットを目指して)

概要

論文の詳細を見る
Our objectives in this paper are to develop a safety-preservation oriented method for monitoring operator's reaching and to verify its effectiveness. The combination of hands-off and hands-on control mode of a power assist system, Skill-Assist, is expected to enhance productive efficiency. However, an operator's error which may result in serious injuries is possible to occur in the hands-off control mode, and that is why the reaching monitoring is required. Dual laser range sensor is employed to monitor operator's reaching by detecting minimum distances to the upper and lower body. Experiment for the reaching monitoring demonstrated the Skill-Assist could recognize a dangerous behavior successfully. The experimental result was also evaluated by a minimum safe distance required by a safety standard of ISO, and the effectiveness of the proposed approach could be verified.
一般社団法人日本機械学会の論文
2008-06-06