Speed and Separation Monitoring in 2D: ISO/TS 15066 Cobot Safety Envelope

This simulator renders a real collaborative-robot safety controller from directly overhead: a top-down floor plan shows a robot arm performing a continuous pick-and-place sweep next to a human worker you can drag anywhere on the floor, while a live Speed and Separation Monitoring loop — the exact mechanism defined in ISO/TS 15066 for cage-free cobots — recomputes the required protective separation distance every frame and throttles the arm's commanded speed down (and, if the worker gets close enough, to a full stop) so the measured separation never falls below what the current speed needs to stop safely in time. A scrolling strip chart tracks separation, required distance and commanded speed over time. Adjust the human's approach speed, the system's sensing/reaction latency, the robot's braking deceleration and its unthrottled top speed, and watch the safe-speed envelope shrink and grow exactly as it would on a real UR- or KUKA-class collaborative robot cell.