Before revision:  In this article , we measure the forces exerted by two robot arms (UR10e and Kuka LBR iiwa) on an impact measuring device in different positions in the robot workspace andwith various velocities.
After revision:  In this article , we measure the forces exerted by two collaborative manipulators (UR10e and Kuka LBR iiwa) on an impact measuring device in different positions in the robot workspace andwith various velocities.