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Implementing Speed and Separation Monitoring in Collaborative Robot Workcells



Jeremy A. Marvel, Richard J. Norcross


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.
Robotics and Computer-Integrated Manufacturing


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


Marvel, J. and Norcross, R. (2016), Implementing Speed and Separation Monitoring in Collaborative Robot Workcells, Robotics and Computer-Integrated Manufacturing, [online], (Accessed April 18, 2024)
Created August 1, 2016, Updated June 2, 2021