The safety monitoring system, developed in this thesis, is conceived to provide an integrated framework for safety by bringing together the three components: a Safety Expert System (SES), a Safety Mode Controller (SMC) and a Human Awareness Interface (HAI). The protocols of the SES are key elements for achieving effective performance of the safety system. A new danger index has been proposed to facilitate the collaboration at different interaction levels. Consisting of two components, this index enables to maintain a safe distance from the robot, while minimizing the probability of serious human injury in case of impact. The acquired safety criterion is integrated into the safety mode controller monitoring algorithm to determine boundary values for each safety mode associated with an interaction level. The safety mode controller is represented as a separated unit that monitors interconnected elements in compliance with safety criteria and predefined transition rules. The overall safety monitoring system is an integrated safety framework that ensures the required level of safety during the performance of collaborative tasks.

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