Robotic systems are developed to execute tasks with several types of risks associated. The possible damages that can affect both the working environment and the self-system lead us to consider that these systems are safety critical, i.e., systems where the strict management of safety aspects is vital. In this work we introduce our proposal for the consideration of safety related requirements and their consequent trace to the desired final system architecture. For this reason, this paper gives a procedure for the identification and specification of safety requirements based on a goal oriented framework. Moreover, in this work other approaches have been considered and integrated to deal with well known safety standard recommendations. By means of an industrial case study, we show how this proposal can be used to consider safety requirements in tele-operated robotic systems and, by extrapolation, in other critical domains.