剖析协作机器人安全约束，揭示能量在安全评估中的核心作用。
Physical Human-Robot Interaction: A Critical Review of Safety Constraints
- 基于能量的分析方法重新审视安全约束来源与假设
- 量化制造环境中典型设计选择导致的性能下降
- 为工业协作机器人安全控制提供可落地的理论依据
本文旨在澄清物理人机交互中普遍认可的安全约束，特别是针对 ISO/TS 15066 标准。我们深入分析这些约束的推导过程，批判性审视其底层假设，并评估其在工业应用场景下的系统级安全与性能影响。识别出安全关键控制架构中的关键设计参数，并通过数值示例量化了制造环境中常见近似与设计决策所引发的性能退化。在此分析中，强调了能量在安全评估中的根本作用，为协作工业机器人系统的能量型安全方法提供了聚焦洞察。
原文摘要 · Abstract (English)
This paper aims to provide a clear and rigorous understanding of commonly recognized safety constraints in physical human-robot interaction, particularly regarding ISO/TS 15066. We investigate the derivation of these constraints, critically examine the underlying assumptions, and evaluate their practical implications for system-level safety and performance in industrially relevant scenarios. Key design parameters within safety-critical control architectures are identified, and numerical examples are provided to quantify performance degradation arising from typical approximations and design decisions in manufacturing environments. Within this analysis, the fundamental role of energy in safety assessment is emphasized, providing focused insights into energy-based safety methodologies for collaborative industrial robot systems.
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