From 738125a803d1ed3f5f3d9bf34c20279c5cf2277d Mon Sep 17 00:00:00 2001
From: Nikhil Ambardar <202-nikaviator@users.noreply.git-st.inf.tu-dresden.de>
Date: Wed, 28 Oct 2020 15:41:37 +0000
Subject: [PATCH] Update back.tex

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 \section{About Franka Panda Emika Robot}
 
-In today's time Robotics is still a relatively modern research area .It is still developing and an interest of research.This is a costly device and can be accessed only to some people. Reasons being high costs, complex and difficult programming and most critical being able to separate humans and robots by safety fences or zones. Th perennial question remained that how can this complex technology be made available to a more general people and academicians.Franka Emika GmbH, the high-tech company from Munich, came ahead to address to this situation and provide a solution. Robot Panda is a sensitive and extremely versatile power tool at an affordable cost for research fraternity to study and experiment. It is also the first system of an entirely new generation of tools, which are developed with the following main objectives: first as a research robot, then as a co-worker in a factory and finally as an assistant in daily life for elderly or sick people helping them with a friendly appearance. \cite{13}. \\
+Robotics is a relatively new and evolved technical field. It is an evolved version of technical development of machines and software field which are both part of robotics. It won't be wrong to claim that robotics is epitome of technical development in machines. Nonetheless robotics is still a very expensive field of research. Robots have a high one time cost as well as very high operational, development and research costs and if in a broken down condition can become expensive to fix. It is still evolving and studied as a modern research area and it is continuously expanding and acting as a base to develop other technologies. Study of robotics is only available to a lucky few people and research is done every day to make it affordable and accessible to more general people. There are many industrial organizations dealing with robotics field and they are doing extensive research for it.\\
 
-The system is accessed and used using Apps like a smartphone and be taught new Tasks within only a several minutes, without requiring any major technical or programming know how. The system is so sensitive at same time upto a level that it can take over assembling, testing or inspecting tasks next to a human coworker without the need for a safety fence as it has all precautions and safety measures built inside.The online forum presents a platform called Franka World and this  represents the center of this ecosystem, in which the community can interact, developers and clients can be assigned and new solutions and applications are provided.\\
+Franka Emika GmbH, a technologically sound company coming from Munich, Germany, has come ahead to address to this issue of high costs and to provide a solution by introducing an affordable and cheap robot known as robot Panda. This is a sensitive and multifaceted machine made available to research fraternity in universities and for students to learn and experiment with robots. Robot Panda is a part of structural ecosystem of new age robots which are cheap to buy ,program and function and are developed with the main objective as a research robotic machine made available to fiddle and learn by students in universities. Its second objective is to introduce its presence as a co-worker in a factory who work along with humans in a hybrid mode model and then thirdly as an friend and helping assistant in life for lonely seniors and sick people needing basic help and assistance. In addition it appears friendly to anyone who look at them\cite{13}.\\
 
-This is a system developed by a globally leading German robot technology company, and is now produced in series in Allgäu, Bavaria. Panda research has been providing use for the research community since August 2017 and later in 2018 it became ready for use in industry, and this is only the beginning of a new generation of universal tools.
+There are various interfaces made available for robot Franka which help to manipulate it. In addition there is an ecosystem of repositories used to run and manipulate the robot. Nowadays even smartphone apps are developed to give idea of robotics to students. The robot is made with many features, notable being a learning capability, where in there is a learning mode which enables robot to learn a series of poses and grasp actions which can then be run and replicated. This is a feature used as a research subject. In addition there are many tools used to run the Franka ecosystem like Moveit / Rviz i.e. used for motion planning and the robot also uses Gazebo simulator.\\
+
+Robot Panda is a very sensitive machine and this give it immense capability to do tasks few other machines can do. It has torque sensing framework which can help manipulate arm very precisely. Robot Panda is also a very safe robot machine and there are many safety features built inside it ,like stop button that can be used to shut down the robot. There is as well a research fraternity and many forums which can help educate and guide students and researchers working in the field of robotics. This as well help people to share knowledge and development with each other and develop more functionality allowing a greater experimentation with this machine.\\
+
+There are many more robots developed but this thesis describes only about the robot Franka Panda Emika.Here is what robot Panda looks like.
 
 \begin{figure}
 	\centering
@@ -16,68 +20,125 @@ This is a system developed by a globally leading German robot technology company
 \end{figure}
 
 \newpage
+
 \section{Franka Panda Emika - Features}
 
-Few Important Features of Robot Franka Panda are -
+Robot Franka Panda is a very capable and affordable robot and it comes with very advanced features which are also essential for its functioning and makes it capable subject for research in universities and these features are the same that provide it versatility to be known as a very stable robotic platform.\\
+
+Few general features of robot Franka Panda are -
 
 \subsection{Sensitivity}
-The Robot FEP Arm is embedded with real torque sensors in all joints which are in total seven. It let Robot Panda, among many things, a sensitivity to recognize and react to an even minute force acting on the arm and then to joints. This sensitive capability enables many functionalities , which are not possible with traditional industrial robots, These are impedance, guiding of the robot or collision detection. To achieve maximum sensitivity it is necessary to compensate additional forces acting on the robot (e.g. a mounted end effector). This is why the end effector to be used should be configured as precisely as possible. 
-\subsection{Impedance}
-Impedance is that behavior of Robot Panda that imitates the ability of a mechanical spring. This capability can be used to interact gently with the environment, an instance that as not to damage any fragile object. The capability of changing impedance is akin to that of the human arm, which tenses the muscles in order to change rigidity and can adapt depending on the load and situation, in order to increase robustness when executing a task. 
+
+Any robot first of all should have a characteristic of being sensitive. Sensitivity may have several meanings in robotic context. To begin with, robot must be sensitive for its surroundings. This would mean it must sense its surrounding using sensors to detect objects of different types and only act accordingly. A robot can also deploy and use a range of different sensors like light sensors in camera, pressure sensors in arms, chemical sensors to detect and measure for instance air quality, listening sensors to adjust speaking volume, radar for scanning surroundings in 3D for precision mappings, and many more as per the need of the job or features to be integrated.\\
+
+Robot Franka Panda Emika is having an arm which is made up of seven joints and all have torque sensors and they all work in tandem with each other giving robot Panda great sensitivity. This allows robot Panda to detect any kind of forces acting on its arm upto the level that it can measure them and detect exact spots where and on which joint, how much torque is applied. This kind of capability is also built in many expensive robots but robot Panda has taken this to a whole new level and this makes it a great choice of machine for studies in university and research areas.
+
+\subsection{Movement}
+ 
+The main characteristic of any robot is movement and this means movement of its control surfaces like arm having moving joints which enable to move its arm in a desired way to accomplish a task, and this also means the capability of robot to move itself from one spot to another by its own self and also by any other means like using remote control or by moving on pre-programmed paths. Self driving cars which are being developed these days are based on robotic motion using programming and forms a big part of information technology industry.\\
+
+If a robot arm cannot move it is not able to accomplish a task or if it cannot move itself in a continuous motion then it is not capable to be considered as a research interest.
+
+\subsection{Variable Resistance}
+
+Any robot must have the quality of physical resistance and ability to electronically measure it. It is this property of robot which enables the robotic components to electronically alter its control surfaces inside a range so that it can have a level of tolerance on control surfaces when depressed and when relaxed physically. This uses electric resistance on surfaces to detect forces on control surface which let the robot know its surface have come in contact with an obstacle or item and also measure electronically how much force is applied to it. This property has been developed to even measure how much of a control surface is depressed as it measures the movement of spring or a foam material in side the surface which may be used as appropriate material to buffer the surface. This maybe simply explained as an operation of a mechanical spring. This capability gives a touch of gentleness and awareness when interacting with the objects in environment. This is also similar to the human arm which tenses and relaxes the muscles to adapt performing any task like pushing, depending on the load and situation.\\
+ 
 \subsection{Collision Detection and Reaction}
-Robot panda is incorporated with torque sensors in all seven joint axes. They provide information on the currently applied torques per axis at any given time. In combination with a custom model-based control, difference or deviation between the expected torque and the actual torque is identified and the Arm can respond to it. An example is, if a user comes inside the proximity of a motion path of the robotic arm while in motion, this action will be recognized in real-time by one or several of torque sensors in joints. Such a torque magnification is classified as a collision and can in many cases classified stop the robot’s movement. 
-\subsection{Generating Forces}
-If the Robot Arm is in intended contact with its surroundings, sensor signals of the seven torque sensors can be used to generate a defined force on the point of contact. Impedance Collision detection and reaction Generating forces. 
+
+A robot must have quality of anticipating collisions by detecting obstacles and identify them in its path. This is described as collision detection and the associated property is of avoidance. So once the path is detected and an obstacle identified in the path then it must be avoided. This can be achieved by stopping in a safe distance before the actual contact with the obstacle.\\ 
+
+Another property is of reaction. This can be described as defining robotic reaction once an obstacle is detected in the path. This includes trajectory modification and alteration to find a new trajectory which maybe around the obstacle or a completely new one. Algorithms are used to achieve this property which are very complex in nature but appropriately modify the path of the robot.\\
+
+There is another dimension present as well to identify with property of collision detection. The torque sensors present in Panda arm detect torque when then move against an obstacle and once past the defined safe limit, drive the robot to a complete emergency halt.
+
+\subsection{Energy Efficiency}
+
+Energy efficiency is a key feature which is marked by robot Franka Panda. This makes the robot energy efficient as it uses very minimal energy to complete any operation or task. This is achieved by variable generation of forces on control surfaces to check how much is enough instead of driving in raw forces which uses a lot of electricity. Thus this helps robot to be gentle in using energy.
 
 \section{Software Tools Robot Franka Uses}
-The Panda research package allows for real-time, bidirectional connection between a workstation PC and the Arm. Even commanding the Robot Hand directly is possible. This so called interface (FCI) enables the users to execute so called specially created controllers and custom made applications with the robot. \footnote{https://moveit.ros.org/ , http://gazebosim.org/ , https://github.com/frankaemika/ , https://erdalpekel.de/?p=55}The package consists of libfranka, a C++ program library, and frankaros, an ROS interface with ROS Control and MoveIt integration. Gazebo was used and this is a simulating software used to run and check simulations of Robot Panda.
 
-\section{Coexistence With Humans And Meaning Of Cobots}
-Cobots, or so called collaborative robots, are robots intended for direct human robot interaction inside a common space or area, or somewhere humans and robots are needed in close proximity. Cobotic applications differ from traditional industrial robotic applications in which robots are isolated from human contact. Cobotic safety relies in some cases on lightweight construction materials, curved edges and rounded points, and inherent limitation of speed and force, or on sensors and software that ensures safe behavior \cite{14}.\\
+Robot Panda uses several tools for its functioning. There are allied software robot Panda uses which are also used by other machines as well as there are software specifically developed for robot Panda. Robot Panda also comes with several software library packages which let it run on user machines using Robot Operating Systems as platform already installed. The software systems developed for Robot Franka Panda is MoveIT/Rviz motion planning software. This lets user set various of robot Panda parameters and lets them tweak some of its features. This MoveIT framework sets tone for robot motion planning activity but this is only a hypothetical plan which may not be possible in real world.\\
+
+This is where there arises a need for another software to check if the motion planning is possible in real world. For this a common software used is Gazebo simulator. This simulator have additional real world parameters like torque on joint which can be altered to see how robot reacts for a motion plan in real world.
+There maybe cases where a robot cannot really afford to bear weight to pickup an object and this maybe visually possible in MoveIT/Rviz tool as it is just a visualization tool framework but then the same motion plan is run in Gazebo simulator which runs the plan with defined torque on all joints which can as well be altered to see more reactions on robotic arm and this lets user see if the simulation is really possible in real world conditions and thus confirm if the motion plan is real world possible.\\
+
+Apart from the above mentioned software which the work of this thesis uses there are several essential repositories provided to users by Erdal which run the Franka robotic framework on user machine. These were as well used to run on top of Robot Operating Systems (ROS) to run the robot Franka. These repositories are namely, \lstinline|franks_ros, panda_simulation ,panda_moveit_config|. The basic idea of robot Panda package which is made up of all the above mentioned tools and software is to execute a real time bidirectional connection between a workstation PC and the arm of the robot.\\
+
+\footnote{https://moveit.ros.org/ , http://gazebosim.org/ , https://github.com/frankaemika/ , https://erdalpekel.de/?p=55}The robotic framework package has libfranka and this is a C++ program library, frankaros which is a ROS interface with ROS Control and MoveIt integration. Gazebo was used which is a real life simulator used to run and check simulations of Robot Panda at the end.\\
+
+\section{Robotic Coexistence With Humans - Meaning Of Cobots}
+
+Robots are very essential to some of the today's modern industry because they help humans accomplish tasks which otherwise are too difficult to perform with the speed and accuracy with which robots can do them. In addition robots can perform tirelessly and do not cringe if they work in day or night. This makes them a versatile tool that is friendly and beneficial to humans. The robots thus need to live, work and perform alongside humans in most cases. This is usually critical in factories and also homes where they are used nowadays. These robots maybe very intelligent and this makes them very capable but in most cases they cannot completely replace human presence which is still required to monitor robotic operations and sometimes humans are required to alter plans and make decisions as per orders and this gives birth to a situation where robots need to work alongside humans and this involves only safe operations because in the event robots cause injury to human it can cause very serious situations and hazard to human well being and may also cause death of a person.\\
+
+Here comes the concept for cobots. They are robots which are built to perform alongside humans and this too safely. The word cobot is derived from so called collaborative robots which are kind of robots made to perform alongside human presence in a commonly used area. Most times they are in very close proximity working alongside each other but the design decisions and multi level safety which range from soft built to auto-emergency stop features ensure they can work very reliably alongside each other.\\
+
+Cobots are evolved version of traditional robots, and traditional robots are only meant to perform without safety features on both levels comprising physical safety as well as software built detection features giving intelligence to robot. Thus these are the factors which differentiate a robot from a cobot. 
+These features are built in cobots but traditional robots do not have them. Cobotic safety relies on lightweight construction materials, curved edges on control surfaces and no sharp edges but only rounded curves, and comes with inherent limitation of speed and force when working along human presence\cite{14}.
+
+Cobots are built for an industry setting workspace and have different hardware and software to run them along with above mentioned features of safety. Some of essential features of cobots are -
+
+\subsection{Existence Alongside Humans}
+
+Cobots and humans work with each other in a common area to accomplish a certain task. A traditional robot is not built to perform alongside human but a cobot is.
+
+\subsection{Collaboration and Co-operation}
+
+There are two stages of intricacies for cobots working with humans namely Collaboration and Co-operation. Humans and cobots are meant to collaborate in work. This mean they must work in a common space but not on any one task physically together. The other property is co-operation and this is a more refined stage which all cobots may not have this feature. This means human and cobot work on the same module of machine at the same time in parallel, and both the human and cobot are in motion. This is achieved not only by pre-programming some paths for cobots and humans but also in real time which is explained in next point.  
+
+\subsection{Real-time and Presence Acknowledged Collaboration}
+
+The cobots are meant to work alongside humans safely. The capability of real time monitoring and decision making is imperative to a cobot. This mean the cobot should be able to detect and track human presence and motion in real time. A cobot must also have decision making ability upto some level to respond to human changing position that enable it to stay at a safe distance from human movement. This must also give robot ability to alter paths in real time for its intended motion.\\
+
+This is a part of robotics that is not very well developed and this forms basis of self-driving cars which has not become possible in real world usage but is also  evolving very fast.
+
+\section{Accidents Due To Malfunctions and Consequences}
+
+Traditional robots were used in industry setting in the past where humans operated them and sometimes worked alongside them. But there have been many cases where the safety of human is compromised in all areas where robots are present. And this has also cased many accidents and some of them very terrible causing grievous injuries and even deaths in many cases. Even during development of cobots there have been accidents for example many prototypes of self-driving cars have failed to provide safety to other cars and people in proximity on the road. It is safe to acknowledge that this is a big issue with cobots and there are problems present here\cite{15}.\\
+
+There is always an element of risk in human-cobot interactions. The danger arises when a human may get hit by the robot in motion or robotic arm in motion. A human may also get trapped between robot boy or arm and an wall or iron grill in vicinity. There are many types of hazards that are identified and they maybe dangers caused mechanically i.e faults in the machine, electrical shocks to human body, overheating components causing burns and many more hazards which maybe combination of these. The hazards are studied carefully and robots continuously evolved to make them handle risks and this makes them safer. But it is also necessary to acknowledge that in real world there are some faults that can always happen which may not always be due to the robot itself but due to wrong operation of robots or due to abuse. Some of them are recognized to be -
+
+\subsection{Mechanical  Failure}
+
+Robotic mechanism is made up of components like motors, actuators, connectors and sensors. These can malfunction and may directly or indirectly cause safety issues.
+A classic example is wrong readings sent by sensors to processor causing it to make a wrong decision. This may cause consequent failure of more components or make them behave unsafely.
+
+\subsection{Electrical Anomaly}
+
+Robots are made up of electronic components like wires, circuit boards, microprocessors which age and may malfunction causing robot to behave unexpectedly and unsafely. The insulation material may wear out causing short circuits and heat damage to components.
+
+\subsection{Malfunctioning Software}
+
+Software is essential to modern day robots and this need programming. Code in any language always have bugs and more so it may fail altogether and this may cause robot to behave unexpectedly and unsafely. The problems come in all shapes and sizes ranging from robot shutting down unexpectedly ,to short circuits causing heat and even fire risks. Thus the set of instructions governing robot use should be perfect for using use cases they are built for but there are always chances of issues coming up after long time use. One of them maybe hardware is superficially compatible with software instructions.  
+
+\subsection{Human Operator Errors}
+
+Robots if used in unintended use cases or experimented with beyond their capability can malfunction. A malfunctioning robot is an uncontrolled robot and thus can be a huge hazard for human life. There are some veto power humans have over robots to do things for them in their own way, but this may logically and hence technically contradictory leading to very unsafe situations where critical materials are handled for instance uranium in a nuclear reactor. A classic example is Chernobyl Nuclear Power Plant accident which was caused entirely due to operator errors. Machines are built with applying functionality in mind and not to handle a combination of all use cases and this always make it possible that there may arise situations robot can go against itself or the operator. This is usually caused due to untrained engineers, operators, and users. These people may not be aware of effects of their actions causing machine to fault.\\
+
+Robots are continuously incorporated with artificial intelligence features making them safer every day but this is a subject of research which is continuously developed and it is not possible to make a robot equally intelligent to a human being.
+
+
+\section{Making Robots Safer And Safe Deployment Practices }
+
+Collaborative robots or cobots are all about latest technology trend that is gathering pace with the advent of all new technology coming up in various fields like self driving cars and manufacturing in factory supply chains. The technology is itself developing and so are its components that can be used interchangeably across industries to develop an ecosystem of new age artificially intelligent cobots at an affordable price. This technology offer amazing advantages as they can safely work alongside humans and provide cost and time benefits that is hard to beat in industry setting where cycle time and productivity are key issues\cite{16}.\\
 
-The International Federation of Robotics (IFR), a global industry association of robot manufacturers and national robot associations, has identified two types of robots – a.industrial robots used in automation (in an industrial setting) and b.domestic and professional usage by service robots. Service robots could be considered to be Cobots as they are intended to work alongside humans. Industrial robots have conventionally worked away and apart from humans and behind fences or other protective barriers, but Cobots remove that separation.\\
+As was mentioned before that cobotic technology is still evolving and developing and assuming it to come at a level where they behave like a living being may take more decades of time and the example is self driving cars that many prominent organizations are working on but have not been able to successfully integrate that finesse and level of safety so far. There have been accidents with attempts to integrate artificial intelligence in to cobots and using machine learning to train the cobot with experiences and then implement this with assured safety or at least equal to a level of humans decision power. This means that companies are spending large amounts of money to  develop such technologies and help them evolve. All because the accidents can be serious and can cause injuries and loss of human life.\\
 
-Cobots can have many uses, from information robots in public spaces (an example of service robots) , logistics robots that transport materials within a building , to industrial robots that help automate un-ergonomic tasks such as helping people moving heavy parts, or machine feeding or assembly operations.
-The IFR defines four types of collaborative manufacturing applications.\\
-\subsection{Co-existence}
-Human and Cobots work alongside each other, but with no common work areas but only separately.
-\subsection{Sequential Collaboration}
-Human and Robot share all or some part of a common workspace but do not work on a modular part or of machine at the same time.
-\subsection{Co-operation}
-Robot and human work on the same part or machine at the same time, and both are
-in motion.
-\subsection{Responsive Collaboration}
-The robot responds in real-time to the worker’s motion. In most industrial applications
-of Cobots today, the Cobot and human worker share the same space but complete
-tasks independently or sequentially (Co-existence or Sequential Collaboration.) Cooperation or Responsive Collaboration are presently less common.
+There are causes of accidents using robots at workplace or industry setting. Robots were made to be fast workers and also powerful to do tedious tasks which means in most cases the control surfaces have substantial amounts of torque. This can cause injury to a human with just one strike and there may be various situations that can develop leading to an accident and thus hazard to human life and also may cause financial costs and medical attention. There are situations when even non functioning robots may cause incidents and hazards. Example is when a robot may malfunction when it is being overhauled for maintenance. There may be a worker doing overhauling when it may react irregularly and cause serious hazard to life of worker. Or there can arise a situation when a robot may be faulty suppose due to a motor issue and the worker may have to stand in the path of robot movement and thus if he fiddles with the motor and it may start running then worker can be hit with robotic arm and cause injury.\\ 
 
-\section{ Consequences Of Accidents / Malfunctions}
+The accidents caused by robots can be classified based on the type of dangerous situations a human may end up with the robot. They are described in the following cases.\\
 
-Accidents in a Dense Human-Robot Co-existing Scenarios Vasic and etc. gave a detailed overview on safety issues in human-robot interactions \cite{15}. Starting to define about industry, the danger is when a human gets trapped between robot and an object (e.g.a wall) or when human collides with a robot causing injury. A detailed list of significant hazards and damages are including: Mechanical, Electrical, Thermal, Noise, Vibration,Radiation, Material/Substance, Ergonomic, the hazards associated with environment and combined hazards. The hazard should be analyzed and minimized from technical points of view, however, in the real applications, there are still unexpected errors and failures which can not be exactly predicted:\\
+A human worker maybe crushed with arm motion of the robot or a human may get trapped in a situation where the robot may move to a point and there is no outlet for human to escape. This case may arise when a human gets trapped in between a wall and the robot arm for instance. Other times a robot may directly hit a human thus causing collision. There maybe other miscellaneous safety situations arising when a robot and a human are present together in a common space like heat burns or electric shocks.\\ 
 
-\subsection{Mechanics Failure}
-Aging of motors, connectors causing malfunction or effects not desired.
-\subsection{Electronics Failure}
-Aging of components and insulation material, out of power, half and the way of operation.Can cause shocks.
-\subsection{Program Failure}
-Program bugs, untested scenarios and cases ,unintended actions.
-\subsection{Operational Error}
-Untrained Engineers, operators, and users
-While robot go out into the factory and to family or other social places, the above written traditional rules are not applicable. The situation is similar to that of computer going from military use to civil and then personal use. The difference is however the actuation, the capability of active physical motions brings more potential hazards.Moreover, when the robot enters an open environment where changes are imminent at anytime , there users are most often un-professional and un-experienced people.Animals (e.g. pets) can be living beings easily to come into close contact with the robot, which might even bring damage to robot. (e.g. a child might see a home service robot and pour water onto it just out of curiosity.) Due to these obstacles, the most sold service robot now is still household robots, which are small in size, carry out comparatively simple and fixed tasks.
+The above listed hazards are minimized by: \\
 
-\section{Safe Robot Deployment Practices And Making Robots Safer}
+– enforcing strictly pre-mapped environment and space for the cell of cobot\\
 
-Collaborative robots are ready to take flight in the next few years, and this is imminent.With in built safety range limits, sensors and other safety functionality, “Cobots” offer exciting benefits — they’re able to work more closely with humans and also among them, they can be affordable and easier to integrate and maintain, and promise better cycle time and productivity \cite{16}.\\
+– strictly followed operational routine\\
 
-This however doesn’t mean the organizations working towards to embrace this new technology can rest easy when it comes to health and safety. Crushing and impact
-hazards and dangers remain, requiring special safety measures and a greater emphasis on certain aspects of your health and safety program.\\
+– authorization of machine operators, maintenance workers and programmers\\
 
-Most injuries and hazards do result from the use of robots at the workplace. Some robots, notably those in a traditional industrial environment, are brisk and powerful in their work. This increase the probability to cause injury to a human as one swing from a robotic arm, for example, could cause serious bodily harm needing serious medical attention and costs. Additional risks are present when a robot malfunctions or is in need of maintenance. A worker that is working on the robot may be injured because a malfunctioning robot is typically unpredictable and uncontrolled. For example, a robotic arm that is part of a supply chain for online delivery company may experience a jammed motor. A worker that is working to fix the jam may suddenly get hit by the arm the moment it becomes un-jammed. Additionally, if a worker is standing in a zone that is overlapping with nearby robotic arms, he or she may get injured by other moving equipment.\\
+– speed limitation on movement of control surfaces in presence of human\\
 
-There are many types of accidents that can occur with robots but four of them are major classifications: crushing and trapping accidents,impact or collision accidents,mechanical part accidents, and other miscellaneous accidents. Impact or collision accidents occur generally from malfunctions and un-predicted changes. Crushing and trapping accidents occur when a part of a worker’s body becomes trapped or caught on robotic equipment. Mechanical part accidents occur when a robot starts to "break down or malfunction," where the ejection of parts or exposed wire can cause serious injury. Other accidents at just general accidents that occur from working with robots and consist of general injury or shocks that occour.\\
+– emergency stop function.
 
-Out of many sources of hazards classified there are seven associated with human interaction with robots and machines: unauthorized access,human errors, mechanical failures,control errors, environmental sources,improper installation, and power systems. Human errors are anything from one line of incorrect code to a loose bolt
-on a robotic arm. Many hazards can stem from human-based error. Environmental sources are things such as electromagnetic or radio interference in the environment
-that can cause a robot to malfunction. Power systems are pneumatic, hydraulic, or electrical power sources; these power sources can malfunction and cause fires, leaks,or electrical shocks. Improper installation is fairly self-explanatory; a loose bolt or an exposed wire can lead to inherent hazards.\\
 
-Besides regular maintenance, the above listed hazards are minimized in industry applications by: – strictly pre-defined environment and space for the cell of robot; – strictly followed and pre-defined operation routine; – authorization of properly trained operators, maintenance workers and programmers; – speed limitation when human is present; – protective stop function and an independent emergency stop function.
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