人間-ロボット系の安全性評価 : 第2報,災害発生機構の解析のための論理モデル-その1

This paper first develops Boolean logic models to represent accident-causation-mechanisms where a robot body or an arm strikes a human. The models can be used as a check list to uncover various oversights which could create the hazards in the human-robot systems. The necessity of dividing thee system into some phases to assure the S-independence among the basic events is emphasized, and examples of the system phase division are demonstrated. Minimal cuts of the logic models in the typical system phases are then extracted to obtain the main system failure modes.