A Study of Safing Robot System in Research and Education

摘要

Safing of a robot system used for research and education has been carried out based on the international safety standards in the paper. The following two situations are considered 1) operation without contact to a user. 2) operation with physical contact to a user. By using a simple two-link robot manipulator system, the difficulty of the safing in mechanical parts is examined experimentally. Safety of electrical circuit is also carried out and it is evaluated by using Boolean algebra and experiments.