The technical specification ISO/TS 15066 provides the foundational elements for assessing the safety of collaborative human-robot cells, which are the cornerstone of the modern industrial paradigm. The standard implementation of the ISO/TS 15066 procedure, however, often results in conservative motions of the robot, with consequently low performance of the cell. In this paper, we propose an energy tank-based approach that allows to directly satisfy the energetic bounds imposed by the ISO/TS 15066, thus avoiding the introduction of conservative modeling and assumptions. The proposed approach has been successfully validated in simulation.

翻译：技术规范ISO/TS 15066为评估人机协作单元的安全性提供了基础要素，这是现代工业范式的基石。然而，ISO/TS 15066程序的标准实现往往导致机器人运动过于保守，进而降低单元性能。本文提出一种基于能量罐的方法，可直接满足ISO/TS 15066施加的能量约束，从而避免引入保守建模与假设。所提方法已在仿真中成功验证。