Time-Optimal Path Tracking with ISO Safety Guarantees

Shohei Fujii,Quang-Cuong Pham,Shohei Fujii,Quang-Cuong Pham

One way of ensuring operator's safety during human-robot collaboration is through Speed and Separation Monitoring (SSM), as defined in ISO standard ISO/TS 15066. In general, it is impossible to avoid all human-robot collisions: consider for instance the case when the robot does not move at all, a human operator can still collide with it by hitting it of her own voluntary motion. In the SSM framewo...