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Versioned, license-tagged source docs for the multi-layer GT knowledge base, ingested into the new core RAG collection bp_iace_safety_kb (whitelisted in the RAG search handler): - prism_risk_methodology.md — OPSS PRISM v2 (OGL v3): full severity(4)× probability(8) → risk-level matrix (Serious/High/Medium/Low), RAPEX-aligned. - cobot_biomech_limits.md — CC BY 4.0 papers (Behrens 2022 / Park 2019): force (N) & pressure (N/cm²) pain thresholds by body region (the data behind ISO/TS 15066, cited from the open papers — standard tables NOT reproduced). - hse_example_risk_assessments.md — HSE (OGL v3): qualitative hazard→control. - osha_robot_safety.md — OSHA OTM (public domain): 250 mm/s teach anchor, robot hazard taxonomy, safeguarding hierarchy. No DIN/EN/ISO/IEC/DGUV content reproduced; each doc states its license + attribution. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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Industrial & collaborative robot safety (OSHA, US public domain)
Citable source document for the IACE robot/cobot hazard taxonomy and the reduced-speed anchor. US Government work — free to reuse verbatim.
Source
- Source: US OSHA — Technical Manual (OTM), Section IV, Chapter 4: Industrial Robots & Robot System Safety; and OSHA Guidelines for Robotics Safety (STD 01-12-002)
- License: US Government work — public domain (17 U.S.C. §105)
- Attribution:
Source: US OSHA Technical Manual §IV ch.4 / STD 01-12-002, public domain - Retrieved: 2026-06
- URLs: https://www.osha.gov/otm/section-4-safety-hazards/chapter-4 · https://www.osha.gov/enforcement/directives/std-01-12-002
Reduced / teach-mode speed limit
OSHA states (quoting the ANSI/RIA basis): during teach/manual mode, robot speed should be at a reduced speed of 10 inches per second (250 mm/s) or less at the tool center point. This is the public, citable basis for the IACE 250 mm/s teach anchor (matches the GT Bremse session and engine measure M340/M492).
Robot hazard taxonomy
| Hazard | Description |
|---|---|
| Impact / collision | Unpredicted movement, component malfunction, unexpected program changes |
| Crushing / trapping | Operator trapped between robot arm and fixed structure; pinch points |
| Struck-by (mechanical part) | Failure of gripper/end-effector; ejected workpiece, tool or debris |
| Electrical / hydraulic / pneumatic | Stored energy, high-pressure fluid injection, energized parts |
| Slip / trip / fall | Around the cell, cabling, fluids |
| Environmental | Arc flash, fumes, noise, radiation depending on process |
Safeguarding hierarchy (OSHA / ANSI basis)
Fixed barriers → interlocked guards → presence-sensing (light curtains, area scanners, safety mats) → enabling/hold-to-run devices in teach mode → speed-and- separation monitoring (collaborative) → power-and-force limiting (collaborative) → awareness barriers/signs. Energy isolation (lockout/tagout) for maintenance.
How these are used in IACE
- Reduced-speed anchor: the 250 mm/s teach limit is a public-domain anchor for robot/cobot speed-limiting measures (no copyrighted standard needed).
- Hazard taxonomy: seeds the robot/cobot hazard categories (impact, crush, struck-by, energy) for pattern coverage checks.
- Safeguarding hierarchy: orders the protective-measure suggestions for robot cells (barriers → sensing → enabling → SSM/PFL → LOTO).
For the collaborative force/pressure LIMITS see cobot_biomech_limits.md
(CC BY 4.0 papers); ISO/TS 15066 tables are not reproduced.