Contact geometry
Identify transient impact, quasi-static clamping, sharp edges and trapped-body cases.
System anatomy · 05
Power and force limiting
Evaluate contact energy with the final robot, tool, workpiece, speed, payload and body region—not a generic low-force claim.
Evidence statusEngineering decision framework · application validation requiredLast reviewed: 13 August 2026
05
FUURAA thesis
Power-and-force limiting reduces selected contact risks; it does not make every contact acceptable.
Engineering map
Turn the title into engineering objects that can be observed, measured and reviewed.
Each layer states the boundary to establish and the evidence needed for the next decision.
Energy chain
Trace mass, speed, payload, tool inertia, control response and mechanical compliance.
Measurement plan
Select locations, directions, repetitions, instrumentation and acceptance criteria.
Verification questions
Write the questions first, then decide whether a demo, test, pilot or operating record can answer them.
Each question needs an object, conditions, denominator, threshold and accountable decision owner.
- 01
Where can a person be struck or trapped?
- 02
Does the final tool concentrate pressure?
- 03
Are worst-case payload and speed included?
- 04
How is measurement uncertainty treated?
Evidence to preserve
Enable the next reader to reconstruct conditions, results, failures and the decision.
A conclusion alone loses reviewability; raw records, configuration and exclusions matter too.
- 01
Evidence package 1
Contact scenario and body-region map
- 02
Evidence package 2
Calibrated force and pressure measurement results
- 03
Evidence package 3
Implemented limits and verification after restart
Scope boundary
State what this evidence still cannot be generalised to.
- 01
Force-limited motion does not address cutting, burning, electrical, chemical or process-specific hazards.
- 02
This is an engineering reading and decision framework; it does not replace application-specific risk assessment, conformity work, procurement acceptance or professional advice.
Sources and evidence status
Read standards scope, measurement evidence and application conclusions separately.
Source dates and review status remain visible; external sources open in a new tab.
01
ISO · 2016-02 · confirmed 2022
↗02ISO/TS 15066:2016 — Collaborative robots
Specifies safety requirements for collaborative industrial robot systems and work environments and supplements ISO 10218.
ISO · 2025-02
↗ISO 10218-2:2025 — Industrial robot applications and robot cells
Addresses integration, commissioning, operation, maintenance and decommissioning of complete industrial robot applications and cells.