Design of Maximum Stopping Deceleration of Mobile Manipulator Considering the Protective Separation Distance without Tip-over

To increase the efficiency and flexibility of production operations, mobile manipulator has been developed and introduced in collaborative workspaces where robot shares the workspace with a operator. Therefore, the importance of robot safety is also increasing because of the rising possibility of the physical collision between the mobile manipulator and the operator. Keeping distance from robot and operator can be a way to prevent the collision recommended by a protective separation distance, ISO/TS 15066:2016. However, case for tip-over of mobile manipulator had not been considered although collision by tip-over could be danger to the operator. Therefore, a stability of tip-over should be considered when we apply the protective separation distance to guarantee the operator's safety. In this paper, a design method for stopping deceleration with consideration of tip-over and relationship between tip-over moment and the protective separation were presented, and simulation has been conducted to prove this method.