The Evolution and Enlightenment of Safety Specification of Cooperative Robots:ISO/TS 15066

Based on the text of ISO/TS 15066:2016 safety specification for cooperative robots, the safety standards of traditional industrial robots are reviewed, and the difference and relationship between the new safety specification and the old one are found out. In addition to unscrambling the key contents such as the four kinds of cooperative operations, this paper also refers to other safety standards and related documents and arises the concept of robot's safety and risk, abstracts the essence of the existing standards of robot safety, and provides the general guidelines to the safety of the cooperative robots. In the end, some enlightenments are given for the design of cooperative robots, and the future developments of the next generation robots are forecasted, which have the characteristics of human-robot harmony.