Multibody System Dynamics

, Volume 37, Issue 1, pp 95–105 | Cite as

Evaluation of head-collision safety of a 7-DOF manipulator according to posture variation

  • Ki Hong Kim
  • In Jun Park
  • Jin-Hwan Choi
  • Sungsoo Rhim


As the need for the improvement of the productivity in the manufacturing process grows, industrial robots are brought out of the safety fences and used in the direct collaborative operation with human workers. Consequently, the intended and/or unintended contact between the human and the robot in the collaborative operation is no longer an extraordinary event and is a mundane possibility. The level of the risk of the collision depends on various quantities associated with the collision, for example, inertia, velocity, stiffness, and so on. MSI (manipulator safety index) which is based on HIC (head injury criteria) conventionally used in the automotive industry is one of the practically available measures to estimate the risk of the collision between the human and the manipulator. In this paper MSI is applied to evaluate the collision safety of a 7-DOF articulated human-arm-like manipulator. The risk of the collision could be reduced by choosing different postures without deviating from the given end-effector trajectory using the redundant degree of freedom in the 7-DOF manipulator. The paper shows how the redundant degree of the freedom is utilized to design safer trajectories and/or safer manipulator configurations among many available. A parametric analysis and simulation results for a given trajectory illustrate the usefulness of the concept of the trajectory design for alleviating the risk of the manipulator operation in the human–robot coexisting workspace.


Manipulator safety Collision safety 7-DOF manipulator Collaborative operation 



This work was supported by the project (project number: 10051117) funded by the Ministry of Trade, Industry & Energy (MOTIE), Korea.


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Copyright information

© Springer Science+Business Media Dordrecht 2016

Authors and Affiliations

  • Ki Hong Kim
    • 1
  • In Jun Park
    • 1
  • Jin-Hwan Choi
    • 1
  • Sungsoo Rhim
    • 1
  1. 1.Department of Mechanical EngineeringKyung Hee UniversityYongin-siKorea

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