In the field of human-robot collaboration (HRC), the speed and separation monitoring (SSM) collaboration have attracted much attention owing to its non-contact safety strategy. 3D sensing applications are currently of interest for industrial automation technology and are considered to be a promising method for maximizing the efficiency of SSM. However, little attention has been given to the runaway space of the robot or the potential contact due to the foreseeable misuse of the operator. In this study, experiments are conducted using a radar system as an example of a 3D safety-related sensor, and battery assembly scenarios are carried out for the comparison. In the experiment, two different orientations of the robot are tested, considering the potential runaway motion of the robot. Also, the maximum permissible speed of the robot is calculated by geometrical transfer energy, which is based on effective mass and the velocity of the manipulator and human injury criteria. From the experimental results, it is evident that it is better to avoid placing the vertical articulated robot in front of the operator from the perspective of minimizing the effect of runaway motion into the safety distance. Finally, the proposed framework of speed limitation is thought to be an effective method to link SSM and power and force limiting safety function.

在人机协作（HRC）领域，速度和分离监控（SSM）协作由于其非接触式安全策略而备受关注。3D传感应用当前是工业自动化技术的关注点，并且被认为是最大化SSM效率的一种有前途的方法。但是，由于可预见的操作员滥用，很少关注机器人的失控空间或潜在的接触。在这项研究中，使用雷达系统作为3D安全相关传感器的示例进行了实验，并进行了电池组装方案的比较。在实验中，考虑了机器人的潜在失控运动，测试了机器人的两个不同方向。也，机器人的最大允许速度由几何传递能量计算得出，该能量基于有效质量和机械手的速度以及人体伤害标准。从实验结果来看，很明显，从最大程度地减小失控运动对安全距离的影响的角度来看，最好避免将立式多关节机器人放置在操作员面前。最后，提出的限速框架被认为是将SSM与功率和力限制安全功能联系起来的有效方法。很明显，从最大程度地减小失控运动对安全距离的影响的角度来看，最好避免将立式多关节机器人放置在操作员面前。最后，提出的限速框架被认为是将SSM与功率和力限制安全功能联系起来的有效方法。很明显，从最大程度地减小失控运动对安全距离的影响的角度来看，最好避免将立式多关节机器人放置在操作员面前。最后，提出的限速框架被认为是将SSM与功率和力限制安全功能联系起来的有效方法。