at

man und ted, environmental data are processed within the collision avoidance module to provide safety for persons and equipment. The real-time capable software architecture and the orchestration of the involved mod-chang the wo In general, the cooperation between humans and industrial ro-bots is emerging more and more in ongoing research fields, con-cerning human–machine interaction as well as industrial safety requirements, issues and regulatory decrees [3,4]. Humans and ro-bots that need to co-operate efficiently must share a common bot and human worker is supported via a force–torque-sensor. Thereby, the robot can be moved by the human operator measur-ing the push and pull forces captured with this device. The safety in this interaction is provided by reduced velocity of the robot’s speed and the usage of a two-hand control switch on the worker’s side. The underlying safety concept fulfills the requirements according to DIN ISO 954, category three. However, the robot is not allowed to move on its own within the shared work space, without the workers active approval – he has to activate the control switch. A further approach can be seen in [8], where a small robotic manipulator itself is additionally equipped with capacitive sensors q This document is a collaborative effort from TUM-CoTeSys – Cognition fo