Safe physical human–robot interaction through variable impedance control based on ISO/TS 15066

The successful implementation of Physical Human–Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This requires a correct environment that guarantees the safety of human operators in close proximity to robots, without constraining the speed and motion of the robotic systems. This paper proposes a novel variable impedance-based controller for robots that ensures safe collaboration by adhering to the ISO/TS 15066 safety standard, namely power and force limiting mode, while achieving higher operational speeds. The effectiveness of the proposed controller has been compared with conventional methods and implemented on two different robotic platforms higher speeds by a margin of up to 78% (3R robot) and 18% (Panda robot), while maintaining compliance with safety standards. The proposed variable impedance holds significant potential for enabling efficient and safe collaboration between humans and robots in industrial settings.