인간과 로봇 협업공간 내의 충돌 감지 분석을 위한 디지털 트윈 기술 개발

The global collaborative robot market is steadily expanding, with collaborative robots leading innovation in various industrial sectors. Consequently, the significance of safety issues in environments where humans and robots collaborate is gaining prominence. Although various solutions exist, the lack of an active recognition and movement mechanism for collaborative robots, coupled with challenges in data acquisition for problem-solving, hinders generalization even when specific methodologies are available for particular situations. Therefore, an analysis methodology applicable to collaborative robot industrial environments and an efficient data acquisition method for diverse situations are essential. To address these challenges, the utilization of digital twin technology facilitates the virtualization of the collaborative robot industrial environment, allowing for experimental analysis. The collaborative robot autonomously assesses collisions, predicts the human"s position based on collision location and impulse vector, and develops an algorithm for avoiding the interference through reverse mechanical analysis. By utilizing obtained from the digital twin experimental space for analysis and result derivation, cost and time can be saved, enabling simulations for various situations. The application of this experimental analysis across diverse fields is anticipated to provide valuable insights in real industrial environments.