© ISO 2016Robots and robotic devices — Collaborative robotsRobots et dispositifs robotiques — Robots coopératifsTECHNICAL SPECIFICATIONISO/TS15066Reference numberISO/TS 15066:2016(E)First edition2016-02-15 Licensed to DIAG, Sapienza Università di Roma / Giuseppe Oriolo (oriolo@diag.uniroma1.it) ISO Store Order: OP-135215 / Downloaded: 2016-04-12 Single user licence only, copying and networking prohibited. ISO/TS 15066:2016(E) ii © ISO 2016 – All rights reservedCOPYRIGHT PROTECTED DOCUMENT© ISO 2016, Published in SwitzerlandAll rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below or ISO’s member body in the country of the requester.ISO copyright officeCh. de Blandonnet 8 • CP 401CH-1214 Vernier, Geneva, SwitzerlandTel. +41 22 749 01 11Fax +41 22 749 09 47copyright@iso.orgwww.iso.org Licensed to DIAG, Sapienza Università di Roma / Giuseppe Oriolo (oriolo@diag.uniroma1.it) ISO Store Order: OP-135215 / Downloaded: 2016-04-12 Single user licence only, copying and networking prohibited. ISO/TS 15066:2016(E) Foreword ........................................................................................................................................................................................................................................ivIntroduction ..................................................................................................................................................................................................................................v1 Scope ........................