Semi-Automatic Configuration of Power and Force Limiting for Collaborative Robotic Applications

Abstract

Power and force limiting (PFL) is a safety function in human-robot collaboration (HRC) allowing direct contact if it remains within biomechanical thresholds. While enabling close tasks, PFL poses hazards that require careful safety configurations. Modern controllers provide user-configurable functions, but setup can be tedious and error-prone. This work presents a workflow for configuring PFL safety functions by semi-automatically identifying essential information and analyzing potential contact situations, resulting in effective safety zones, based on existing norms.