Research On Safety Evaluation Of Workspace And Path Planning For Robot Arms

The rapid development and widespread application of industrial robotic arms in the production field have liberated individuals from numerous jobs characterized by high repetition,great danger,strong harm,heavy physical labor,and process-oriented work.However,the occurrence of a large number of accidents involving robotic arms has necessitated a heightened focus on safety issues.Therefore,evaluating the safety of industrial robots to increase the reliability of human-machine collaboration has become a research hotspot.This article primarily analyzes and studies safety evaluation strategies for the workspace and path planning of robotic arms.It conducts safety evaluation function and strategy research from two aspects,namely,workspace and path planning.Using an experimental approach,safety evaluation indicators within and outside the workspace are simulated,and a systematic study of safety evaluation methods for path planning is conducted,including the following four aspects:The factors affecting the safety of robotic arms are analyzed,and the main factors that affect workspace safety are classified into five categories,including robotic arm size,workspace size,obstacle arrangement,end effector tool,and external environmental parameters.Similarly,the factors that affect path planning safety evaluation strategies are classified into five categories,including environmental obstacles,robotic arm speed,robotic arm sensors,control system reliability,and human-machine interaction complexity.This lays a qualitative research foundation for analyzing and researching quantitative safety evaluation of robotic arms.A safety evaluation function for the workspace is established,which describes the safety within and outside the workspace from three aspects,namely,dangerous zone,workspace,and place zone.A safety index evaluation method for robotic arm workspace is proposed,and the safety evaluation function is calculated for a specific robotic arm based on UR5 e.The calculation results showed that the evaluation function can effectively characterize the safety of the robotic arm workspace.A safety evaluation strategy for the results of robotic arm path planning was proposed,and the factors affecting the safety of path planning were detailed and summarized.On a qualitative basis,a partial quantitative study was conducted on the safety evaluation method of robotic arm path planning.A rapid safety evaluation mechanism for path planning results was designed,which can partially effectively reflect the internal relationship between path planning results and safety.Numerical results show that,this method can effectively reflect the relationship between path planning results and safety indicators,and can effectively judge the differences in safety between different planning methods.Numerical simulation and calculation examples were used to demonstrate the correctness of the evaluation function and strategy for the safety of the workspace and path planning of the established robotic arm.Various indicators,parameters,and parameters that affect the safety of the robotic arm were systematically verified.The calculation results showed that the evaluation function and safety strategy proposed in this paper can effectively evaluate the safety of the robotic arm in its state.The safety evaluation methods and strategies for robotic arm workspace and path planning have been analyzed and studied,laying a theoretical and experimental verification foundation for safety research in this field.This provides reference for the safety evaluation methods for robotic arm workspace and path planning,and has positive significance for the safety evaluation strategies of robotic arms.