Professional Documents
Culture Documents
Collaborative operation
vrel
ISO 10218-2
Industrial use
Controller
Manipulator
Main references
Common references
ISO 13849-1 / IEC 62061 Safetyrelated parts of control systems
IEC 60204-1 Electrical equipment
(stopping fnc.)
ISO 12100 Risk assessment
ISO 13850 E-stop
Main references
IEC 61508
Functional Safety
B-Level
EN ISO 13849-1:2008
or
IEC 62061:2005
C-Level
Other C-level
machinery standard
E-stop
Protective stop
Operating modes
Automatic / manual /
manual high-speed
Pendant controls
Enabling
Start / restart
Hold-to-run
Limit switches
Muting functions
Changing between
Collaborative / non-collaborative
Different methods of collaboration
absolute separation of
robot and human
workspaces
Discrete safety
No HRC
complete union
of robot and human
workspaces
Safety controllers
Limited HRC
Harmless manipulators
Full HRC
Temporal separation
Temporal coincidence
l
ria s
st tion
u
n d ca
l i ppli
a
ic a
ss s C
la otic HR
C b o
ro n
Spatial separation
Spatial coincidence
2
2.
3.
5.10.2
5.10.3
Hand guiding
(Example: operation as assist device)
5.10.4
5.10.5
Pictogram
(ISO 10218-2)
Zero while
operator in CWS*
Hand guiding
Safety-rated
monitored speed
(PL d)
Speed and
separation
monitoring
Safety-rated
monitored speed
(PL d)
Power and
force limiting
Max. determined
by RA+ to limit
impact forces
Separation
distance
Torques
Operator
controls
Main risk
reduction
Small or zero
Gravity + load
compensation
only
None while
operator in CWS*
No motion in
presence of
operator
Small or zero
As by direct
operator input
E-stop;
Enabling device;
Motion input
Motion only by
direct operator
input
Safety-rated
monitored
distance (PL d)
As required to
execute
application and
maintain min.
separ. distance
None while
operator in CWS*
Contact between
robot and
operator
prevented
Small or zero
Max. determined
by RA+ to limit
static forces
As required for
application
By design or
control, robot
cannot impart
excessive force
RA = Risk Assessment
Hand guiding
(ISO 10218-1, 5.10.3, ISO/TS 15066)
Reduce risk by providing worker with direct control
over robot motion at all times in collaborative
workspace
Achieved by (controls close to end-effector)
Emergency stop, enabling device
Safety-rated monitored speed
Application
Ergonomic work places
Coordination of manual + partially automated steps
Distance supervision
Speed supervision
Exposure F1 (rare)
Exposure F2 (frequent)
Avoidability P2 (low)
Avoidability P2 (low)
ABB-activities in standardization:
Biomechanical Criteria
Pain threshold
Pain threshold
vrel
F
ABB Group
March 17, 2014 | Slide 17
Threshold for S2
irreversible injury
Threshold for S1
reversible injury
Collaborative
operation
assuming
= 4
=1
= 1
ABB Group
March 17, 2014 | Slide 20
ABB Group
March 17, 2014 | Slide 21
ABB Group
March 17, 2014 | Slide 22
ABB Group
March 17, 2014 | Slide 23
http://publikationen.dguv.de/dguv/pdf/10002/bg_bg
ia_empf_u_001e.pdf
ABB Group
March 17, 2014 | Slide 24
A. Muttray et al.
ABB Group
March 17, 2014 | Slide 25
ABB Group
March 17, 2014 | Slide 26
Personal protective
equipment
Level 4
Level 3
Level 2
Injury-avoiding mechanical
design and soft padding
Level 1
ABB Group
March 17, 2014 | Slide 29
Level 5
Other, application-specific
Perception-based real-time
adjustment to environment
clamping
Level 6
impact
Bomb disposal
Meka Robotics M1
Industrial assembly
ABB Group
March 17, 2014 | Slide 31
ABB Group
March 17, 2014 | Slide 32
Ergonomics
Productivity
Application Design
Ease-of-Use
ECG Electrocardiography
EMG Electromyography
6
5
8
cover fixation
1
2/3/4
PCBs
Open Discussion
What are your needs?
Type of application
Assembly, pick-and-place, measurement & testing,
Criteria for suitability of HRC
Degree of automation
Distribution of tasks among robots / operators
Types of interfaces, handover, conveying,
Frequency of changeover, typical lot sizes
Keys for acceptance of partial automation / mixed humanrobot environment
Ease-of-use
Application design
Ergonomics
Distribution of roles and responsibilities
Economic Motivations
Manual
Robot
zone
Hard
automation
Societal Trend
Individuality and differentiation
with respect to peers
Resulting Market Trend
Increasing no. of product variants
Decreasing product lifetime
Away from mass production
towards mass customization
Challenge to Industrial Production
Efficient handling of large range
of variants and short model
lifetimes
Common solution today: Mostly
manual production in Asia
high
high
Number of variants
low
Productivity
Automatic assembly
Hybrid assembly
Flexibility
Manual assembly
low
low
(adapted from B. Lotter)
Lot size
high
high
120
100
80
Cost
partially automated
manufacturing
60
40
manual
manufacturing
automated
manufacturing
20
Worker Strengths
Robot Strengths
Cognition
High speed
Reaction
High force
Adaptation
Repeatability
Improvisation
Consistent quality
Worker Limitations
Robot Limitations
Modest speed
No cognitive capability
Modest force
Weak repeatability
No autonomous
adaptation
Inconsistent quality
Modest working
envelope
0
0
20
0%
40
60
Degree of Automation
80
100
100%
Synergy: HRC
S2
S1
P1
P2
Safety
Productivity