In this paper, we focus on a safety system for human-manipulator cooperation works. The safety system is to avoid collision between the human and the manipulator for safe humanmanipulator cooperation work using a high speed perception system of the environment. First, new safety distance is defined because International Organization for Standardization (ISO) only lays down rules on the safety distance by sensor curtains. Our new safety distance shows that high sampling rate can improve safety for the cooperating works with human. Then, highspeed 3D measurement using volume intersection is introduced. Our system can reach 100 [Hz] sampling rate on 2.5 GHz Intel Core i5 PC. Finally, we explain collision avoidance algorithm. In the experiment, the manipulator was successfully able to avoid collision with the human.
