Page - 53 - in Joint Austrian Computer Vision and Robotics Workshop 2020

IntroducingaMorphologicalBoxforanExtendedRiskAssessmentof Human-RobotWorkSystemsConsideringProspective SystemModifications TitanillaKomenda FraunhoferAustriaResearchGmbH titanilla.komenda@fraunhofer.at MartinSteiner TU¨VAUSTRIASERVICESGMBH martin.steiner2@tuv.at MichaelRathmair,MathiasBrandsto¨tter JoanneumResearch, Institute forRobotics andMechatronics {michael.rathmair,mathias.brandstoetter}@joanneum.at Abstract. The concept of human-machine collabo- ration is regarded as key enabler for agile produc- tion systems as collaborative robots offer new forms of flexibility. Due to inherent safety functionalities, these robots can operate without physically separat- ing safety devices and thus provide flexibility in task allocation and execution. However, changes on the work system require a new risk assessment due to thepresentnormative regulations,which isa tedious task as feasible changes are usually not considered in the implementationphase. Thispaperpresents the impactofmodificationsoncollaborativeroboticcells andhowthey influence theriskassessment. Further- more, a method of considering work system variants basedondesired futuremodifications ispresentedso that implicationscanbealreadyidentifiedinanearly design phaseof the system. 1. Introduction Robot safety constitutes a key factor in human- robot working systems [1]. Currently, every manu- factureror integratorofacollaborative roboticappli- cationmustplace its applicationon themarket inac- cordancewithDirective2006/42/EC(MachineryDi- rective)of theEuropeanParliamentandof theCoun- cil Among other things, this stipulates that the ba- sic safety and health protection requirements listed in Annex 1 of the Machinery Directive must be met. Annex 1 of the Machinery Directive, under General principles, and also the ISO 10218:2012 standard requires that the manufacturer of a machine or his authorised representative must ensure that a risk as- sessment is carried out. This ensures that the safety and health protection requirements applicable to the machine are determined and that the machine is de- signedandbuilt taking intoaccount the resultsof the risk assessment. In this process of risk estimation and risk reduction, the limits of the machine, the in- tendeduseandthereasonablyforeseeablemisuseare determined. In practice, EN ISO 12100:2010 (Safety of ma- chinery - general principles for design - risk assess- mentandrisk reduction) isoftenusedasamethodof carrying out a risk assessment. Using this method- ology, the hazards that can arise from the machine are identified. The associated hazardous situations and the risks are estimated by also considering their severity of possible injuries or damages to health and the probability of their occurrence. The risks are then assessed to determine whether a risk reduc- tionmeasure inaccordancewith theobjectivesof the Machinery Directive is necessary. If so, the haz- ards are eliminated or reduced by applying protec- tivemeasureswhile insomecircumstancesorganiza- tional measures might be necessary. However, ISO 12100 is a type A standard meaning that methodolo- giesdescribed in its content areapplicable foravery widerangeofmachineryandnotnecessarilyspecific to the application of robotic applications. Thus, EN ISO 10218-2, a type C standard, is in place. Section 4 of this document gives a risk assessment scheme that is specifically refined for robotic applications (under consideration of ISO 12100 and other related standards). Topics such as the design, manufacture, installation, operation, maintenance and decommis- sioning of the industrial robot system or cell are ad- dressed. The basic hazards and hazardous situations 53