ABB CRB 15000, Product Manual, Page: 133 / 1096

Body model
As defined in ISO/TS 15066, the body model is a representation of the human body
consisting of individual body segments characterized by biomechanical properties.
The segments of the body model has different sensitivity. In general, the application
should be designed so that the human head and neck is never exposed to hazards.
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Recommendations from ISO/TS 15066
A key process in the design of the collaborative robot system and the associated
cell layout is the elimination of hazards and reduction of risks, and can include or
influence the design of the working environment. The following factors shall be
taken into consideration:
1 The established limits (three dimensional) of the collaborative workspace.
2 Collaborative workspace, access, and clearance.
3 Ergonomics and human interface with equipment.
4 Use limits.
5 Transitions.
For more information, see ISO/TS 15066.
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Product manual - CRB 15000 133
3HAC077389-001 Revision: L
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3 Installation and commissioning
3.6.4 Guidelines for transient and quasi-static contact, CRB 15000
Continued