In this step of the experiment conception, the robot control design took place. There is now a robot control architecture with an extended impedance controller and an open communication interface to the industrial robot control box. Further the safety system has beeing integrated into the robot control and the experiment architecture. There are several types of safety equipment planned into the system for a maximum redundant safety for the operator, the robot and even the environment. The heart of the safety system is built by a dynamic simulation of the overall robotic system.