로봇 안전 표준 기반의 협동로봇 전장 시스템 설계 = Design of collaborative robot electronic system based on robot safety standards

다국어 초록 (Multilingual Abstract)

With the advent of collaborative robots and the expansion of markets such as service ro-bots with artificial intelligence, humans have come into physical contact by installing ro-bots in various environments. As a result, the demand for standards for robots has in-creased, and safety issues have emerged. International standards related to the safety of collaborrative robots include ISO 12100, ISO 10218-1/2, ISO 13849-1, and ISO TS 15066. The requirements of a standard exists, but there are many unclear factors in the analysis and interpretation of the requirement specified in the standard. This requires specific ex-amples or directions that meet the requirements of the standard.
The purpose of this study is to design a collaborative robot electric system based on the robot safety standards. Therefore, we developed motor driver and safety controller, which are the core of collaborative robot electric system, and we proposed collaborative robot sys-tem that complies with safety standards by utilizing it. In addition, the PL of the designed system was evaluated by setting quantitative criteria for safety standards with unclear mat-ters.

목차 (Table of Contents)

• ABSTRACT …………………………………………………………………… i
• 목 차 ……………………………………………………………………………ii
• List of Figures ……………………………………………………………… iv
• List of Tables ……………………………………………………………… v
• 제 1장 서론 ………………………………………………………1
• 1.1 연구 배경 및 동기 ……………………………………………………… 1
• 1.2 연구 동향 ………………………………………………………………2
• 1.3 연구 목표 및 방법 ……………………………………………………… 3
• 제 2장 협동로봇의 안전과 관련된 표준 …………………………5
• 2.1 표준의 분류 ……………………………………………………………… 5
• 2.2 ISO 10218-1 …………………………………………………………… 6
• 2.3 ISO 13849-1 ……………………………………………………………10
• 2.4 ISO TS 15066 ………………………………………………………… 18
• 제 3장 안전 표준 기반의 협동로봇 전장 시스템 …………… 20
• 3.1 협동로봇을 위한 BLDC 모터 드라이버 ……………………………… 20
• 3.2 안전 컨트롤러 기반의 협동로봇 안전 시스템 구성 ………………… 23
• 제 4장 실험 및 결과 ……………………………………………… 45
• 4.1 협동로봇 성능 평가 ………………………………………………………45
• 4.2 안전 컨트롤러의 안전 기능 검증 ……………………………………… 49
• 4.3 안전 시스템 예시 및 PL 평가 ………………………………………… 51
• 제 5장 결론 ………………………………………………………… 56
• 참고 문헌 …………………………………………………………… 57