Definition
Safety constraints ensure robots operate without harming humans, damaging objects, or breaking themselves. Key constraints include joint velocity limits, Cartesian velocity limits (ISO 10218, ISO/TS 15066 for collaborative robots), maximum allowable contact forces (typically <150N for human contact), workspace boundaries (virtual walls), and emergency stop conditions. In learning-based control, safety constraints can be enforced via constrained optimization, safety filters (Control Barrier Functions), or sim-to-real with conservative dynamics. SVRC's deployment protocols include configurable safety envelopes and real-time force monitoring.
Why It Matters for Robot Teams
Understanding safety constraints in robotics is essential for teams building real-world robot systems. Whether you are collecting demonstration data, training policies in simulation, or deploying in production, this concept directly affects your workflow and system design.