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the system, different configurations of the setup are analyzed. Quantitativedifferences, suchascycleand operating timesof theresourcesareobtainedbysim- ulations in ema Work Designer. In order to validate the presented method for safe system modification, four different variants were implemented on the real plant to cover a wide range of variation possibilities. The parameters of six modification dimensions were varied, specifically the product, the resource alloca- tion (trestle feed, insert screw, tighten screw), the position of end effector height and the robot base during collaboration. Significant safety-relevant in- fluencing factors such as speed of the moving robot parts, safety distance, vulnerable human body parts, numberanddurationofexposure tohazardscan thus beassessed. 4.ConclusionandFutureWork Collaborative work systems in an industrial con- text are currently limited if changes need to be taken intoaccount regularly. Althoughrobotprogramming of modern sensitive robots is aimed for users with limited programming skills and becomes more and more sophisticated, safety regulations limit this flex- ibility. An advanced structured approach for safety assessment, as described in this paper, enables safe implementation of modifications to a known extent. Future work will include an extensive comparison between simulated system modifications and mod- ifications on the real experimental setup. Further- more, qualitative differences, e.g. in terms of per- ceived physical workload for the operator will also beanalyzed. Acknowledgments The research leading to these results originate from the project DR.KORS – Dynamic reconfigura- bilityofcollaborativerobotsystems(FFGprojectno. 864892) which has received funding from the Pro- duction of the Future programme. Production of the Futureisaresearch, technologyandinnovationfund- ing programme of the Republic of Austria, Ministry ofClimate Action. We would like to thank Lukas Kaiser, Stefanie Puschl-Schliefnig, and Thomas Sta¨hle for setting up the lab use caseandperforming the simulations. References [1] A. Djuric, J. Rickli, J. Sefcovic, D. Hutchison, and M. M. Goldin, “Integrating Collaborative Robots in Engineering and Engineering Technology Pro- grams,” ASME International Mechanical Engineer- ing Congress andExposition, vol. 5, 2018. [2] M. Brandsto¨tter et al., “Versatile collaborative robot applications through safety-rated modification lim- its,” in Advances in Service and Industrial Robotics (K. Berns and D. Go¨rges, eds.), (Cham), pp. 438– 446,Springer InternationalPublishing,2020. [3] M. J. Rosenstrauch and J. Kru¨ger, “Safe human- robot-collaboration-introductionandexperimentus- ing iso/ts 15066,” in 2017 3rd International Confer- enceonControl,AutomationandRobotics(ICCAR), pp.740–744,2017. [4] B. Matthias, S. Kock, H. Jerregard, M. Kallman, I. Lundberg, and R. Mellander, “Safety of collab- orative industrial robots: Certification possibilities foracollaborativeassembly robotconcept,” in2011 IEEE International Symposium on Assembly and Manufacturing (ISAM), pp.1–6,2011. [5] M.Bdiwi,M.Pfeifer, andA.Sterzing,“Anewstrat- egy for ensuring human safety during various levels of interaction with industrial robots,” CIRP Annals, vol. 66,no.1, pp.453–456,2017. [6] F.Vicentini, “Terminology insafetyofcollaborative robotics,”RoboticsandComputer-IntegratedManu- facturing, vol. 63,2020. [7] L. Lestingi and S. Longoni, HRC-TEAM: A Model- drivenApproach toFormalVerificationandDeploy- mentofCollaborativeRoboticApplications. Project thesis,PolitecnicodiMilano,2017. [8] J. Saenz, R. Behrens, E. Schulenburg, H. Petersen, O. Gibaru, P. Neto, and N. Elkmann, “Methods for considering safety in design of robotics applica- tions featuringhuman-robotcollaboration,” Interna- tional JournalofAdvancedManufacturingTechnol- ogy, vol. 107,p.2313–2331,2020. [9] T. Ogure, Y. Nakabo, S. Jeong, and Y. Yamada, “Risk management simulator for low-powered human-collaborative industrial robots,” in 2009 IEEE/RSJ International Conference on Intelligent Robotsand Systems, pp.49–54,2009. [10] J. A. Marvel, J. Falco, and I. Marstio, “Character- izing task-based human–robot collaboration safety in manufacturing,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 45, no. 2, pp.260–275,2015. [11] A.M.Zanchettin,N.M.Ceriani,P.Rocco,H.Ding, and B. Matthias, “Safety in human-robot collabora- tive manufacturing environments: Metrics and con- trol,” IEEETransactionsonAutomationScienceand Engineering, vol. 13, no.2,pp.882–893,2015. [12] T. Ritchey, “General morphological analysis,” in 16theuroconferenceonoperationalanalysis, 1998. 58