This study is about a design method for deriving task safety scenarios for the application of collaborative robots. A five-step process for deriving task safety scenarios for collaborative robots has been proposed, which focuses on the type of collaboration between human and collaborative robot. The three types of collaboration were classified according to the collaboration workspace and the worktime of human and collaborative robot. Based on these three types of collaboration, task safety scenarios include scenarios that predict risk from unintended use during work. Collaboration with collaborative robot is a human-centered process because human actions can create dangerous situations. Besides, we improved the understanding of this design methodology by presenting examples of the application of task safety scenarios according to the process for each type of collaboration.

Abstract
1. 서 론
2. 협동로봇시스템 HRI 형태 관련 선행연구
    2.1 작업과 공간에 따른 분류
    2.2 시간과 공간에 따른 분류
3. HRI의 위험성 관련 규격
    3.1 협동로봇시스템의 위험원 식별
    3.2 의료용 로봇의 위험원 식별
4. 협동로봇 작업안전 시나리오 설계 방법
    4.1 작업안전 시나리오의 필요성
    4.2 협동로봇 작업안전 시나리오 도출 프로세스
5. 협업유형의 제시
    5.1 협업유형의 분류
    5.2 협업유형별 공간설정 기준
6. 협동로봇 작업안전 시나리오 도출
    6.1 Co-Type 1의 작업안전 시나리오 도출 예시
    6.2 Co-Type 2의 작업안전 시나리오 도출 예시
    6.3 Co-Type 3의 작업안전 시나리오 도출 예시
7. 결 론
References

• 김율희(Kwangwoon University) | Yull-Hui Kim
• 김진오(Division of Robotics, Kwangwoon University) | Jin-Oh Kim Corresponding author