论文标题
协作机器人的安全控制器合成
Safety Controller Synthesis for Collaborative Robots
论文作者
论文摘要
在人类机器人协作（HRC）中，基于软件的自动安全控制器（ASC）以各种形式（例如关闭机制，紧急制动器，互锁）来改善操作安全性。复杂的机器人任务和越来越紧密的人类机器人互动对ASC开发人员和认证机构构成了新的挑战。这些挑战的关键是需要在相当弱的假设下确保ASC的正确性。为了满足这一需求，我们介绍并评估了制造中HRC的工具支持的ASC合成方法。我们的ASC合成是：（i）通过制造过程，风险分析和法规告知； （ii）正式符合正确性标准； （iii）根据一组最佳标准从可行控制器的设计空间中选择。合成的ASC可以检测出危险的发生，将过程移至安全状态，在某些情况下，将过程恢复到可以恢复其原始任务的操作状态。
In human-robot collaboration (HRC), software-based automatic safety controllers (ASCs) are used in various forms (e.g. shutdown mechanisms, emergency brakes, interlocks) to improve operational safety. Complex robotic tasks and increasingly close human-robot interaction pose new challenges to ASC developers and certification authorities. Key among these challenges is the need to assure the correctness of ASCs under reasonably weak assumptions. To address this need, we introduce and evaluate a tool-supported ASC synthesis method for HRC in manufacturing. Our ASC synthesis is: (i) informed by the manufacturing process, risk analysis, and regulations; (ii) formally verified against correctness criteria; and (iii) selected from a design space of feasible controllers according to a set of optimality criteria. The synthesised ASC can detect the occurrence of hazards, move the process into a safe state, and, in certain circumstances, return the process to an operational state from which it can resume its original task.
