The problems of manipulator motions safety are discussed. The first one is to exclude occasional incorrect motions. The source of such motions is malfunction of robot equipment. The methods of real time robot serviceability checking are proposed. They are based on analysis of continuity and nonlinearity of position sensors changing in all motions. The second source of equipment failure is collisions with technological equipments during robot training procedure. It takes place during adjustment of program points and trajectories. Geometrical modeling of manipulator and workspace allows to avoid such mistakes. The proposed method of limited accuracy of geometry presentation reduces computation complicity of verification. Technical vision is considered as subsystem of human operator safety in manipulator workspace. Ability of operator displacement tracking depends on control unit performance. The algorithm to detect outside object penetrating into the specified zone of workspace in real time is described.