Proposal of Fail-Safe Contact Motion Control and its Simulation using CRANE-X7

Currently, human-robot collaboration has attracted remarkable interest among researchers. It is being considered for application in the field of manufacturing and an attention of a new risk regarding runaway motion on the robot side has been paid by our group. For example, if the robot runs away owing to a single fault, the robot and the worker may collide. Therefore, the runaway motions of robots need to be examined. We focus on not only a joint running away but also other active joints. If we can control them and reduce the amount of collision impact, a safe operation can be achieved at a fully secured level. Thus, we propose a fail-safe contact motion control and simulate its usefulness using CRANE-X7.