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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Safety-Function Design for the Control System of a Human-Cooperative Robot Based on Functional Safety of Hardware and Software
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Safety-Function Design for the Control System of a Human-Cooperative Robot Based on Functional Safety of Hardware and Software

机译：基于软硬件功能安全的合作机器人控制系统安全功能设计

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摘要

Human-cooperative robots (HCRs) are expected to benefit various fields. Safety functions are essential to the control system of HCRs because their hazardous movements after a system failure may cause serious injuries to operators. Therefore, their reliability must be sufficiently high relative to the estimated risk, and it is important to design a suitable safety function for the control system to match the safety level required for an HCR. We propose a methodology of safety-function design for the control system of an HCR and attempt to effectively combine design approaches for hardware and software of safety-related systems (SRSs) on the basis of the concept of functional safety. This study describes the details of the methodology for an HCR that we adopted as a platform system. First, SRS hardware with a dual-channel voting architecture was designed, and then, functional safety analysis was performed to verify whether the hardware satisfied the required safety integrity level (SIL). Next, SRS software with diverse programming, which is recommended for the required SIL, was designed by utilizing a disturbance observer. Finally, experiments were conducted on the SRS for representative failures and the safety function was verified for the control system, as set by the proposed methodology.
机译：预计人类合作机器人（HCR）将使各个领域受益。安全功能对于HCR的控制系统是必不可少的，因为在系统故障后HCR的危险动作可能会对操作人员造成严重伤害。因此，它们的可靠性必须相对于估计的风险足够高，并且重要的是为控制系统设计合适的安全功能以匹配HCR所需的安全级别。我们提出了一种用于HCR控制系统的安全功能设计方法，并试图在功能安全概念的基础上有效地结合安全相关系统（SRS）的硬件和软件的设计方法。这项研究描述了我们作为平台系统采用的HCR方法的细节。首先，设计了具有双通道投票架构的SRS硬件，然后执行功能安全性分析，以验证硬件是否满足所需的安全完整性等级（SIL）。接下来，通过使用干扰观测器来设计推荐用于所需SIL的具有多种编程的SRS软件。最后，对SRS进行了代表故障的实验，并验证了所提出方法所设定的控制系统的安全功能。

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