This paper aims to provide a clear and rigorous understanding of commonly recognized safety constraints in physical human-robot interaction, particularly regarding ISO/TS 15066. We investigate the derivation of these constraints, critically examine the underlying assumptions, and evaluate their practical implications for system-level safety and performance in industrially relevant scenarios. Key design parameters within safety-critical control architectures are identified, and numerical examples are provided to quantify performance degradation arising from typical approximations and design decisions in manufacturing environments. Within this analysis, the fundamental role of energy in safety assessment is emphasized, providing focused insights into energy-based safety methodologies for collaborative industrial robot systems.

翻译：本文旨在对物理人机交互中普遍认可的安全约束，特别是关于ISO/TS 15066的标准，提供一个清晰而严谨的理解。我们研究了这些约束的推导过程，批判性地审视了其基本假设，并评估了其在工业相关场景中对系统级安全性和性能的实际影响。本文识别了安全关键控制架构中的关键设计参数，并通过数值算例量化了在制造环境中因典型近似和设计决策所导致的性能下降。在此分析中，我们强调了能量在安全评估中的根本作用，为协作型工业机器人系统提供了关于基于能量的安全方法的深入见解。