Before revision:  Applying this to our scenario where the impact has a clamping nature, the allowed end effector speed on the whole robot workspace would be only 0.13 and 0.16 m/s for the UR10e and KUKA LBR iiwa , respectively. Our measurements reveal that if the task is performed for example 0.8 m away and 0.4 m above the robot base, speeds of 0.16 m/s (UR10e) and 0.20 m/s (KUKA LBR iiwa) can be safely operated, staying within the prescribed force limit. Furthermore, the  force evolution during impact for the UR10e reveals that clamping never occurs .
After revision:  Applying this to our scenario where the impact has a clamping nature, the allowed end effector speed on the whole robot workspace would be only 0.13 and 0.16 m/s for the UR10e and KUKA LBR iiwa ) moving downward against an impact measuring device. First, we empirically show that the force evolution during impact for the UR10e reveals that clamping never occurs .