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.

我们对速度和分离监视方法进行了概述和指导，如国际标准化组织关于协作机器人安全性的技术规范15066中所述。此类功能由集成到机器人工作单元中的外部智能观察器系统提供。详细讨论了SSM最小保护距离函数方程，其中考虑了输入值，实现规范和性能期望。我们提供了当前方程式的分析分析和测试结果，讨论了在人为环境中实施SSM的注意事项，并提供了朝着标准化技术进步的方向。