1. Dégoulange, E., Dauchez, P.: External force control of an industrial puma 560 robot. J. Robot. Syst. 11(6), 523–540 (1994)
2. Finkemeyer, B.: Towards safe human-robot collaboration. In: Proceedings of the IEEE International Conference on Methods and Models in Automation and Robotics (MMAR), pp. 883–888 (2017)
3. German Institute for Standardization: DIN 66312. Industrial robots, Programming language, Industrial Robotic Language (IRL) (1996)
4. German Institute for Standardization: DIN EN ISO 10218-1, Robotics - Safety requirements - Part 1: Industrial robots (2021)
5. German Institute for Standardization: DIN EN ISO 10218-2, Robotics - Safety requirements for robot systems in an industrial environment - Part 2: Robot systems, robot applications and robot cells integration (2021)