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. Based on these measurements, we investigate the Power and Force Limiting regime presented in ISO/TS 15066.
After revision:  In this article , we measure the forces exerted by two robot arms (UR10e and Kuka LBR iiwa) on an impact measuring device . Our contributions are the following: (i) a new data-driven model predicting impact forces from velocity, distance from robot base, and, newly, the height in the workspace; (ii) demonstration that the model can be trained on a limited number of data points; (iii) analysis of the force evolution upon impact. The standard ISO/TS 15066.