Preparing the published article.
ISO/TS 15066 and Collaborative Robot Applications
Force, speed and separation: the measurements that allow fencing to be removed.
The four collaborative methods
| Method | Idea | Typical implementation |
|---|---|---|
| Safety-rated monitored stop | Robot stops when a human enters | Safe area monitoring |
| Hand guiding | Operator moves the robot deliberately | Enabling device plus limits |
| Speed and separation monitoring | Robot slows or stops by distance | Safety scanners, safe speed |
| Power and force limiting | Contact is intrinsically limited | Force and pressure limits per body region |
Measurement, not assumption
Power and force limiting requires measuring the actual forces and pressures the application produces at the contact points, and comparing them with the limits for each body region in the technical specification. The tool, not the robot, usually determines the result.
Steps that hold up in an audit
- List every contact scenario, including pinch points between tool and fixture.
- Measure with calibrated equipment at the worst-case speed and payload.
- Record the measured values, the equipment used and the date.
- Re-measure after any change to the tool, the program speed or the fixture.