Speed and separation monitoring (SSM) is one of the four permissible collaborative operations in human-robot interaction (HRI). At all times, it must be ensured that the speed-dependent separation distance is maintained. To guarantee this, the robot speed or the robot path can be adapted. In this paper, the robot speed adaption for multiple trajectories is implemented in an HRI simulation tool and tested in an application example. Thereby, numerous complex process situations, such as a temporary robot stop or obstacles in the collaborative workspace, can be simulated. The simulation tool enables a comprehensive simulation, analysis and optimisation of human and robot motions within the HRI, already in the planning phase.

速度和分离监控（SSM）是人机交互（HRI）中四个可允许的协作操作之一。在任何时候都必须确保保持取决于速度的分离距离。为此，可以调整机器人速度或机器人路径。在本文中，在HRI仿真工具中实现了针对多条轨迹的机器人速度自适应，并在一个应用实例中对其进行了测试。因此，可以模拟许多复杂的过程情况，例如临时机器人停止或协作工作区中的障碍物。该仿真工具可以在计划阶段就对HRI内的人和机器人运动进行全面的仿真，分析和优化。