Test Methods for the Evaluation of Manufacturing Mobile Manipulator Safety

[abstFig src='/00280002/11.jpg' width=""280"" text='Arm-on-AGV safety test methods' ]This paper presents a test methodology for evaluating the safety of mobile manipulators (robot arms mounted on mobile bases). This methodology addresses the safety concerns relevant to modern, agile, manufacturing practices in which mobile manipulators will play a significant role. We consider 1) the unique capabilities and anticipated uses of mobile manipulators and 2) the potential exemptions and special cases in which their behavior may be unpredictable or otherwise contrary to the safety requirements. Finally, we define metrics for assessing compliance with functional safety requirements and anticipated performance.