Before revision:  Furthermore, the  force evolution during impact for the UR10e reveals that clamping never occurs .
After revision:  Furthermore, the impact forces can vary by more than 100 percent within the robot workspace. The forces are negatively correlated with the distance from the robot base and the height in the workspace. Second, we present a data-driven model, 3D Collision-Force-Map, predicting impact forces from distance, height, and velocity and demonstrate that it can be trained on a limited number of data points. Third, we analyze the force evolution during impact for the UR10e reveals that clamping never occurs .