Safe Human-Robot Cooperation in an Industrial Environment

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Pedrocchi, Nicola; Vicentini, Federico; Matteo, Malosio; Tosatti, Lorenzo Molinari;

The standard EN ISO10218 is fostering the implementation of hybrid production systems, i.e., production systems characterized by a close relationship among human operators and robots in cooperative tasks. Human-robot hybrid systems could have a big economic benefit in s... View more
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    SafeCPU execution time of 0.010ms, plus 50ms that is 

    opened. Hence, the total latency is about 72ms.  ii) Incoherence  in  target  generation  is  equal  to  the 

    C4GOPEN  communication  time  (1ms),  plus 

    calculation  time  (less  than  20  microseconds),  plus 

    communication  time  between  CPU‐3  and  the  two 

    PLCs  (0.8ms),  plus  the  communication  time  among 

    the  PLCs  and  the  SafeCPU  (0.8ms),  plus  the  safe‐

    relay  reaction  time  (50ms).  Hence,  the  event  total 

    latency is about 52ms.  iii) Incoherence  in  following  error  calculation  is  equal  to 

    C4GOPEN  communication  time  (1ms),  plus 

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