论文标题
基于模拟机器人系统的早期安全验证测试
Simulation-based Testing for Early Safety-Validation of Robot Systems
论文作者
论文摘要
在安全方面，必须对工业人像协作系统进行彻底验证。可以暴露对工人的潜在危害更快，成本越高是实施必要的变化。由于机器人系统的复杂性，安全缺陷通常会隐藏起来，尤其是在尚未进行物理实施的早期设计阶段。基于模拟的测试是在早期阶段识别危害的可能方法。但是，创建可观察到的危害的模拟条件可能很困难。由于较大的搜索空间，蛮力或蒙特 - 卡洛的接地通常不适合危害识别。这项工作通过使用人类模型和优化算法来解决该问题，从而在模拟中产生高风险的人类行为，从而暴露于潜在的危害。在应用示例中显示了概念证明，该示例使用该方法在工业机器人单元中找到危害。
Industrial human-robot collaborative systems must be validated thoroughly with regard to safety. The sooner potential hazards for workers can be exposed, the less costly is the implementation of necessary changes. Due to the complexity of robot systems, safety flaws often stay hidden, especially at early design stages, when a physical implementation is not yet available for testing. Simulation-based testing is a possible way to identify hazards in an early stage. However, creating simulation conditions in which hazards become observable can be difficult. Brute-force or Monte-Carlo-approaches are often not viable for hazard identification, due to large search spaces. This work addresses this problem by using a human model and an optimization algorithm to generate high-risk human behavior in simulation, thereby exposing potential hazards. A proof of concept is shown in an application example where the method is used to find hazards in an industrial robot cell.
