**3.6 Risks**

In the current industry 4.0 the tools are divided into two groups, one which bases its operation on capturing and processing data, and the physical and tangible tools [15].

The latter can present a series of risks such as:


Safety: Mechanical contacts that generate physical damage because I) adjustments, programming, or tests of the robot, II) access to restricted areas during automatic operation, III) During cleaning or maintenance, IV) During collaborative work. As well as electrical risks, when contacting active parts, by poorly insulated elements, incorrect voltage during maintenance. Thermal risk burns and danger from flammable atmosphere. Projection of materials, sparks, or particles.

Safety: Mechanical contacts that cause physical damage through I) configuration, programming or testing of the robot, II) access to restricted areas during automatic operation, III) during cleaning or maintenance, IV) during collaborative work. In addition to electrical hazards from contact with living parts, poorly insulated elements, incorrect voltage during maintenance. Thermal hazard burns and danger of flammable atmosphere. Projection of materials, sparks, or particles.

Hygiene: Exposure to I) Vibration that endangers the operation of the cobot or the health of the operator, II) Ionizing and non-ionizing radiation, III) Materials or chemical elements harmful to health, IV) Noise, V) Magnetic fields.

Ergonomics: Due to repetitive movements that must be done with the arm or hand, prolonged forced postures, overexerted by the weight that is loaded, postural changes by the reduced space.

**11**

**3.7 Applications**

*Human-robot symbiosis [16].*

**Table 1.**

*COBOTS in Industry 4.0: Safe and Efficient Interaction DOI: http://dx.doi.org/10.5772/intechopen.99540*

> behavior. Stop the robot or slow it down.

> level of risk per collision

collision or deliberate

collision or deliberate

stopping or changing trajectory, speed, force

separate Change in robot

shared Quantification of the

shared Minimize risk from

shared Minimize risk from

shared obstacle avoidance,

contact

contact

**Workspace Action Algorithms Hardware and sensors**

separate Restriction on staff none signage and delimitations. Light,

control algorithms

Safety strategies for collision detection

preclusion analysis strategies

acoustic, optical, etc. indicators.

system, Standard car crash test

carbon and aluminum fibers.

Motion capture systems, local information, computer vision, distance sensors, RGB-D. Capacitive sensors, ultrasound, laser, IR, cameras, etc.

lightweight structures. Viscoelastic coating, elastic absorption systems, use of

none Estimation of pain tolerance, assessment

none technical mechanical compliances,

Combination of passive systems and security assets. Interlocking device, proximity, and touch sensors.

of the level of risk. Human arm emulation

Touch sensors, proprioceptives, encoders, force sensors, optical and RGB-D sensors.

It is important to keep in mind that, in collaborative robotics, there are different ways to interact or work with robots, in the **Table 1** is described these interactions. It may be the case in which the machine is isolated from the operator, this for the safety of the latter. Another case is when both the machine and the operator are isolated; process in which greater security is required for the person. And finally, when the machine needs direct handling or is not risky for the operator, then there

The prevention of collisions between humans and robots is fundamental in collaborative robotics and in the framework of Industry 4.0. It plays an important role in meeting safety criteria, as people and machines work side by side in an unstructured and time-varying environment. Autonomous guided vehicles (VGA) implement techniques for navigating through mapping, location, route idealization, and route tracking. This technique allows that, if there are any obstacles in the way, the transport does not have to stop. Instead of stopping the machine, by using point-to-point motion logic, a tool was implemented to avoid obstacles. Often, the only hardware available in VGA is PLCs. This hardware limitation is a prominent

is no separation between these. **Figure 3** depicts these separations.

feature, as not all computers support large computing capabilities [15].

repetitive strain injuries to workers when executed manually.

• Industrial application of *Universal Robots,* Collaborative robots on BMW assembly lines. Robots are used on the production line to wrap a layer of protective film over electronic components inside a door, which can cause

• Audi's human-robot cooperation in production processes is based on the "*PART4you*" robot. It incorporates a camera and suction cup to help human

Some applications of Cobots expressed in [17] are:

Psychosocial: Problems in adaptability with COBOT, change in work rhythm, overload, and mental fatigue.

*COBOTS in Industry 4.0: Safe and Efficient Interaction DOI: http://dx.doi.org/10.5772/intechopen.99540*


**Table 1.**

*Collaborative and Humanoid Robots*

**3.6 Risks**

tools [15].

new technology

of the team

technologies.

changes by the reduced space.

overload, and mental fatigue.

incidence and severity of these risks.

accordance with the company's policies [14].

The latter can present a series of risks such as:

exchange and technological connectivity.

1.Perform a risk analysis associated with the use of the collaborative robot: Two important sources of risk were identified: mechanical entrapment and shocks, which are caused by the movements of the collaborative robot. In this sense, it is important to implement the necessary security measures to minimize the

2.Validate the integration of the collaborative robot with the assembly station: The use of the collaborative robot on the production line was validated accord-

3.Train technicians and operators in the maintenance and collaborative operation of robots, respectively: The two trainings were given and documented in

In the current industry 4.0 the tools are divided into two groups, one which bases its operation on capturing and processing data, and the physical and tangible

• Risk in the planning and organization by the company, for the acquisition of a

• Psychosocial risk, in terms of psychological, emotional, and social involvement

• Safety, hygiene, and ergonomic risks generated by staff interaction with new

• Cybersecurity, in terms of vulnerability of companies' information due to data

Safety: Mechanical contacts that generate physical damage because I) adjustments, programming, or tests of the robot, II) access to restricted areas during automatic operation, III) During cleaning or maintenance, IV) During collaborative work. As well as electrical risks, when contacting active parts, by poorly insulated elements, incorrect voltage during maintenance. Thermal risk burns and danger from flammable atmosphere. Projection of materials, sparks, or particles.

Safety: Mechanical contacts that cause physical damage through I) configuration, programming or testing of the robot, II) access to restricted areas during automatic operation, III) during cleaning or maintenance, IV) during collaborative work. In addition to electrical hazards from contact with living parts, poorly insulated elements, incorrect voltage during maintenance. Thermal hazard burns and danger of flammable atmosphere. Projection of materials, sparks, or particles. Hygiene: Exposure to I) Vibration that endangers the operation of the cobot or the health of the operator, II) Ionizing and non-ionizing radiation, III) Materials or

Ergonomics: Due to repetitive movements that must be done with the arm or hand, prolonged forced postures, overexerted by the weight that is loaded, postural

Psychosocial: Problems in adaptability with COBOT, change in work rhythm,

chemical elements harmful to health, IV) Noise, V) Magnetic fields.

ing to the evaluation and validation procedures of the company.

**10**

*Human-robot symbiosis [16].*

It is important to keep in mind that, in collaborative robotics, there are different ways to interact or work with robots, in the **Table 1** is described these interactions. It may be the case in which the machine is isolated from the operator, this for the safety of the latter. Another case is when both the machine and the operator are isolated; process in which greater security is required for the person. And finally, when the machine needs direct handling or is not risky for the operator, then there is no separation between these. **Figure 3** depicts these separations.

### **3.7 Applications**

The prevention of collisions between humans and robots is fundamental in collaborative robotics and in the framework of Industry 4.0. It plays an important role in meeting safety criteria, as people and machines work side by side in an unstructured and time-varying environment. Autonomous guided vehicles (VGA) implement techniques for navigating through mapping, location, route idealization, and route tracking. This technique allows that, if there are any obstacles in the way, the transport does not have to stop. Instead of stopping the machine, by using point-to-point motion logic, a tool was implemented to avoid obstacles. Often, the only hardware available in VGA is PLCs. This hardware limitation is a prominent feature, as not all computers support large computing capabilities [15].

Some applications of Cobots expressed in [17] are:


workers pick up the components of the boxes and pass them on to the assembly workers, without safety barriers, at the right time and in an ergonomically ideal position.


**13**

**Author details**

Javier F. Castillo1

and Diego Fernando Saavedra1

2 MOABIT, Madrid, Spain

provided the original work is properly cited.

, Jesús Hamilton Ortiz<sup>2</sup>

1 Facultad de Ingeniería, Universidad Santiago de Cali, Colombia

\*Address all correspondence to: jesushamilton.ortiz@gmail.com

© 2021 The Author(s). Licensee IntechOpen. This chapter is distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/ by/3.0), which permits unrestricted use, distribution, and reproduction in any medium,

\*, María Fernanda Díaz Velásquez1

*COBOTS in Industry 4.0: Safe and Efficient Interaction DOI: http://dx.doi.org/10.5772/intechopen.99540*

same way that a trained human worker would [17–21].

Although existing industrial robots can work in challenging environments, perform high-precision tasks, and help improve and increase productivity, most of this is still driven by pre-designed robot commands and programs. Given labor costs and intense competition, there is a huge shortage of autonomous and intelligent robots and physical cyber systems capable of perceiving and deciding in the next application of Industry 4.0. These intelligent robots can analyze their tasks by selecting the right tools, planning their movements, and performing the right operations in the

With the constant advances that occur in robotics and with the demand for new needs that occur in industries, the presence of collaborative robots is increasingly noticeable, especially in those processes that are repetitive and can be divided

**3.8 Future applications**

between a machine and a person.

**Figure 3.** *Types of interaction with the robot.*
