Robotics

This document specifies the requirements of safety management systems for application services provided by service robots (application service safety management system (hereafter AsSMS)) that an application service provider can use for the safety of its users and its third parties when it provides application service in unstructured human spaces with trained and untrained persons. (e.g., giving directions for visitors in airport or shopping mall, carrying goods to patients in hospital, delivering food to customers in restaurant.)This document is applicable to any organization that wishes toa) improve safety performance of application services provided by service robots,b) establish, implement, maintain and improve safety management systems for application services provided by service robots,c) assure itself of conformity with its stated application service safety policy, andd) demonstrate conformity with this document.The requirements of this document can be conformed to by integrating safety management systems for application services provided by service robots into, or making it compatible with, other management system or processes within the organization.The requirements of this document can be conformed to by multiple organizations without omission depending on what shall be done as an organization and a safety management.Although intended for application services provided by service robots, this standard can also be applied for services using robots other than service robots.This document is not intended to be used as a product safety standard.NOTE The safety management systems for application services provided by service robots established in accordance with the requirements of this document may not apply directly when service robots to be used, robot systems, contents of service, places of operation, users or so differ.

This protocol describes a method for validating the safety skill “Maintain proper alignment” for joint axis alignment (both translational as well as rotational) for exoskeleton type rehabilitation robots as well as exoskeleton type robots used in other domains. This protocol uses an instrumented artificial limb, by which the joint angles, contact forces as well as the forces and torques in the joint can be determined, to validate the skill.

The specific purpose of this protocol is to validate the safety skill “limit interaction energy” by measurement. The skill “limit interaction energy” protects bystanders from injuries caused by collision with the exoskeleton. This protocol is therefore not focusing on the safety of the person attached to the exoskeleton but rather of persons in close proximity of the exoskeleton. For the execution of this protocol it is required that the reader has a bio-fidelic force and pressure measurement device available.

The purpose of the protocol is to validate the safety skill “limit range of movement” for an angular motion of a single joint of an exoskeleton or a restrained-type rehabilitation robot. The range of motion is measured using an electro-goniometer.

The purpose of this technical report is to provide interpretation of certain provisions of ANSI/RIA R15.06-1999 and to present examples of current industry practices for teaching (programming) multiple industrial robots that share a common safeguarded space. This information is in addition to the requirements contained in ANSI/RIA R15.06-1999 and the committee considers the examples to comply with the safety standard.

TR 506 explains how to take the 2012 R15.06 standard into account for existing robot systems, rather than the all-new robot installation that is the primary topic of the 2012 R15.06. The TR 506 document as published in 2014 continues to be the current active version.

This technical report is written for users of industrial robots or robot systems that comply with ANSI/RIA R15.06-2012 Part 1, a responsibility of the robot manufacturer; and of industrial robot systems that comply with ANSI/RIA R15.06-2012 Part 2, a responsibility of the integrator. This technical report explains some user responsibilities and provides guidance to the user of robot systems to enable the safe use of the robot system(s) in their facilities. Compliance with this technical report is only achievable when using robot and robot systems that are compliant with ANSI/RIA R15.06-2012.

This Technical Specification specifies safety requirements for collaborative industrial robot systems and the work environment, and supplements the requirements and guidance on collaborative industrial robot operation given in ISO 10218-1 and ISO 10218-2 [ANSI/RIA R15.06-2012].This Technical Specification applies to industrial robot systems as described in ISO 10218-1 and ISO 10218-2 [ANSI/RIA R15.06-2012]. It does not apply to non-industrial robots, although the safety principles presented can be useful to other areas of robotics.

This Technical Report describes test methods and metrics for measuring the pressures and forces associated with quasi-static and transient contact events of collaborative applications where risk reduction is provided primarily by robots with power and force limiting (PFL) by inherently safe design or safety functions according to ANSI/RIA R15.06 and RIA TR R15.606. This Technical Report also provides guidance on determining the conditions of the test measurements. A robot with PFL functionality is not to be considered safe “out of the box” as the PFL robot is a component within a collaborative application. If the PFL robot is used in an application with no human/robot collaboration, these test methods are not required. For further guidance on when to test, see Annex A: Determining When to Test PFL Applications. Forces attributable to human motion are not taken into consideration for the application of this technical report.