Before revision:  The formulas relating robot mass, velocity, and impact forces from ISO/TS 15066 are insufficient -- leading both to significant underestimation and overestimation of velocities/forces, and thus to unnecessarily long cycle times or even dangerous applications  .
After revision:  The formulas relating robot mass, velocity, and impact forces from ISO/TS 15066 are insufficient -- leading both to significant underestimation and overestimation of velocities/forces, and thus to unnecessarily long cycle times or even dangerous applications . We propose an empirical method that can be deployed to quickly determine the optimal speed and position where a task can be safely performed with maximum efficiency .