Towards safe robots
| Permalink: | http://skupni.nsk.hr/Record/fer.KOHA-OAI-FER:43232/TOC |
|---|---|
| Glavni autor: | Haddadin, Sami (-) |
| Vrsta građe: | Knjiga |
| Jezik: | eng |
| Impresum: |
Berlin:
Springer,
2014.
|
| Izdanje: | 1st edition |
| Nakladnička cjelina: |
Springer tracts in advanced robotics ;
90 |
| Online pristup: |
Publisher description Table of contents only |
Sadržaj:
- Introduction.
- State of the art. Social and cognitive human-robot interaction. Physical human-robot interaction. Robot safety in industrial robotics.
- Soft-robotics control. Robot dynamics and modeling. Unified control for the LWR-III. Collision detection schemes.Collision reaction. Experiments.
- Biomechanics and forensics. Classifying injury severity. Injury criteria for the head. Injury criteria for the neck. Injury criteria for the chest. Eye injury.
- Crash-testing in robotics. Automobile crash Testing. Blunt unconstrained impacts with the LWR-III. Blunt unconstrained impacts for general robots. Constrained blunt impacts. Constrained contact with singularity forces. Towards a crash-testing protocol.
- Sharp and acute contact. Soft-tissue injury caused by sharp tools. Experiments.
- Reactive pre-collision strategies. Reaction strategy with task preservation. Reaction strategy without task preservation.
- Towards the robotic co-worker. Functional modes. Interaction concept. Interactive bin picking.
- Competitive robotics. Preliminaries. Safety of the human. Robot joint protection. Robot performance improvement.
- Intrinsic joint compliance. Intrinsically compliant actuation. Design considerations. Joint design, modeling, identification, and control. Basic optimal control theory. Shooting methods for solving MPBVPs. The Nelder-Mead Siplex-Downhill algorithm. Performance increase through joint compliance. Compliance as a cornerstone of safety?. Blunt impact dynamics. Collision detection for VSA.
- Considerations for new robot standards. Limitations of existing safety standards. Possible injuries in robotics: a synopsis. Extended abbreviated injury scale. Standard impacts. Impact of the monograph and next steps.
- Conclusion and outlook.
- Dodatak: Breaking tests. Maximum link velocity for nc motor cycles.