NOTICE: Due to a lapse in annual appropriations, most of this website is not being updated. Learn more.

Form submissions will still be accepted but will not receive responses at this time. Sections of this site for programs using non-appropriated funds (such as NVLAP) or those that are excepted from the shutdown (such as CHIPS and NVD) will continue to be updated.

U.S. flag

An official website of the United States government

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.

PUBLICATIONS

Implementing Speed and Separation Monitoring in Collaborative Robot Workcells

Published

Author(s)

Jeremy A. Marvel, Richard J. Norcross

Abstract

We provide an overview and guidance for the speed and separation monitoring methodology as presented in the International Organization of Standardization's technical specification 15066 on collaborative robot safety. Such functionality is provided by external, intelligent observer systems integrated into a robotic workcell. The SSM minimum protective distance function equation is discussed in detail, with consideration for the input values, implementation specifications, and performance expectations. We provide analytical analyses and test results of the current equation, discuss considerations for implementing SSM in human-occupied environments, and provide directions for technological advancements toward standardization.
Citation
Robotics and Computer-Integrated Manufacturing
Volume
44
Pub Type
Journals

Download Paper

https://doi.org/10.1016/j.rcim.2016.08.001

Keywords

Robot safety, speed and separation monitoring, collaborative robots, human-robot interaction
Manufacturing

Citation

Marvel, J. and Norcross, R. (2016), Implementing Speed and Separation Monitoring in Collaborative Robot Workcells, Robotics and Computer-Integrated Manufacturing, [online], https://doi.org/10.1016/j.rcim.2016.08.001 (Accessed October 1, 2025)

Issues

If you have any questions about this publication or are having problems accessing it, please contact [email protected].

Created August 1, 2016, Updated June 2, 2021
Was this page helpful?