ISO/TS 15066の解釈の違いがリスクアセスメントに与える影響
ISO/TS 15066: How Different Interpretations Affect Risk Assessment
安全な人間-ロボット協働の技術仕様ISO/TS 15066に含まれる接触定義の論理的矛盾が、リスクアセスメントの解釈を分岐させ誤用を招くことを4機種の実験で示し、決定木と制約付き衝突力マップによる明確な評価手法を提案した論文。
著者: Robin Jeanne Kirschner, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin
分類: cs.RO
原文アブストラクト
The current technical specification ISO/TS15066:2016(E) for safe human-robot interaction contains logically conflicting definitions for the contact between human and robot. This may result in different interpretations for the contact classification and thus no unique outcome can be expected, which may even cause a risk to the human. In previous work, we showed a first set of implications. This paper addresses the possible interpretations of a collision scenario as a result of the varying interpretations for a risk assessment. With an experiment including four commercially available robot systems we demonstrate the procedure of the risk assessment following the different interpretations of the TS. The results indicate possible incorrect use of the technical specification, which we believe needs to be resolved in future revisions. For this, we suggest tools in form of a decision tree and constrained collision force maps, which enable a simple, unambiguous risk assessment for HRI.
