Semi-Automatic Configuration of Power and Force Limiting for Collaborative Robotic Applications

Zeitschrift für wirtschaftlichen Fabrikbetrieb, vol. 121, pp. 425–432

Abstract

Abstract Power and force limiting (PFL) is a safety function in human-robot collaboration (HRC) allowing direct contact if it remains within biomechanical thresholds. While enabling close tasks, PFL poses hazards that require careful safety configurations. Modern controllers provide user-configurable functions, but setup can be tedious and error-prone. This work presents a workflow for configuring PFL safety functions by semi-automatically identifying essential information and analyzing potential contact situations, resulting in effective safety zones, based on existing norms.

Authors 6

1. Yi-Hsuan Tseng Aachen

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University & ABB AG Corporate Research Center Germany , Aachen , Germany

2. David Kötter Aachen Laboratory for Machine Tools and Production Engineering (WZL)

   RWTH Aachen University

   Affiliation as printed

   Laboratory for Machine Tools and Production Engineering, RWTH Aachen University ; Steinbachstraße 25 , Aachen , Germany

3. Florian Stuhlenmiller

   ABB (Germany)

   Affiliation as printed

   ABB AG Corporate Research Center Germany , Aachen , Germany

4. Fan Dai

   ABB (Germany)

   Affiliation as printed

   ABB AG Corporate Research Center Germany , Aachen , Germany

5. Oliver Petrović Aachen

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University , Aachen , Germany

6. Werner Herfs Aachen

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University , Aachen , Germany