Development of robot simulator (SAFE-CAD) for safety design and control

We have already proposed a danger evaluation method of various kinds of design and control strategies for human-care robots. The impact force was chosen as evaluation value, and the danger-index was defined to make quantitative evaluation of the effectiveness for each safety strategy. In this paper, new type of 3-D robot simulator for danger evaluation is constructed on PC. This simulator simplifies to evaluate danger about both design and control of various kinds of human-care robots and to quantify effectiveness of various safety strategies.