SaRA: A Tool for Safe Human-Robot Coexistence and Collaboration through Reachability Analysis
Sven R. Schepp,Jakob Thumm,Stefan B. Liu,Matthias Althoff,Sven R. Schepp,Jakob Thumm,Stefan B. Liu,Matthias Althoff
Current safety mechanisms implementing industry standards for human-robot coexistence separate humans and robots through caging. Other approaches allowing humans to enter the workspace of manipulators do not provide formal safety guarantees. Thus, this study aims to facilitate the widespread adoption of collaborative robots by presenting SaRA, an extensible tool that performs set-based reachabilit...
