Cobot Power & Force Limiting Safety Zone (2D)

This top-down 2D companion to the 3D cobot safety simulator models the same ISO/TS 15066 power-and-force-limiting budget from an independently computed 2-link planar arm: real forward kinematics turn joint angles into an end-effector position every frame, and a live speed-and-separation-monitoring controller computes the minimum protective distance the arm needs to stop in time, throttling its commanded joint speed the moment the dragged human hand closes inside that margin. A second, independent formula estimates the transient contact force a collision would produce right now from the arm's actual closing speed and the selected body region's reduced mass, checked continuously against that region's published biomechanical limit rather than on a single button-triggered test.