Standard

ISO 19439:2006 specifies a framework conforming to requirements of ISO 15704, which serves as a common basis to identify and coordinate standards development for modelling of enterprises, emphasising, but not restricted to, computer integrated manufacturing. ISO 19439:2006 also serves as the basis for further standards for the development of models that will be computer-enactable and enable business process model-based decision support leading to model-based operation, monitoring and control.In ISO 19439:2006, four enterprise model views are defined in this framework. Additional views for particular user concerns can be generated but these additional views are not part of this International Standard. Possible additional views are identified in ISO 15704.

This document gives guidelines for a uniform framework, transversal with respect to the different robot categories and limited to those robots and robotic applications characterized by human-robot collaboration, for the development and/or use of testing procedures, applicable to different robot categories and use scenarios. This document is informative and is not aimed at substituting or simplifying verification and/or validation procedures required by standards. The objectives of this document are the following: — define an approach for the development and use of procedures for testing safety in human-robot collaboration at a system level, based on safety-relevant human-robot collaboration skills and limited to the mechanical hazards; — define a comprehensive list of application-driven, technology-invariant safety-relevant human-robot collaboration skills valid across different domains; — provide a template for system-level validation protocols; — by way of example, present two system-level validation protocols, applicable to multiple domains. This document does not apply to the following devices, systems and applications: autonomous vehicles for the transportation of persons, drones, rescue robots (including ground, marine and aerial vehicles), surgical robots in relation to the body of the patient, passive wearable devices, external limb prostheses. NOTE 1 This document aims at providing harmonization in the compilation of structured testing procedures, to supplement safety validation of specific robot applications, building, where possible, on test methods provided in the relevant standards. It does not propose any safety requirement, nor is it intended to provide alternatives for or simplification of the relevant standards for each robot category. Users of this document are expected to be proficient in directives, regulations and standards applicable for the specific robot system and application. An overview of robot categorization is provided in A.1. NOTE 2 This document does not address “functional safety” (e.g. the performance level of safety-related parts of control systems), nor criteria for its validation and verification.

The specific purpose of this protocol is to validate the safety skill “limit interaction energy” by measurement. Its scope is limited to robot arms operating in the domain Manufacturing. In this context, the skill “limit interaction energy” is often used to protect workers from injuries caused by robot collisions where the robot hits a part of the human body that can freely move. The validation of this protocol requires that the reader has a bio-fidel force and pressure measurement device available. The instrument must allow for measuring the pressure history during the collision.

The specific purpose of this protocol is to validate the safety skill “limit interaction energy” by measurement. Its scope is limited to robot arms operating in the domain Manufacturing. In this context, the skill “limit interaction energy” is often used to protect workers from injuries caused by robot collisions where the robot traps a part of the human body against a fixed obstacle. The validation of this protocol requires that the reader has a bio-fidel force and pressure measurement device available. The instrument must allow for measuring the pressure history during the collision.

The purpose of this protocol is to verify the ability of the robotic system to limit its movements in 3D space. In this version of the protocol, it is checked that the robot, with all its segments and end effector, does not pass beyond a vertical plane placed in the robotic cell. The validation test is performed using a moving frame representing the vertical plane or part of it.

The purpose of this protocol is to validate the safety skill “limit range of movement” for rehabilitation robots, where a limb of a subject has a connection point with the robot (either free or restrained) and the robot can move that point within a 3D volume. The range of motion is assessed using opto-electronic 3D marker tracking.

The specific purpose of this protocol is to validate the safety skill “maintain safe distance” by measurement. Its scope is limited to robot arms operating in the domain Manufacturing and Logistics. The validation of this protocol requires that the reader has a device to measure one dimensional braking distance and stopping time.

The specific purpose of this protocol is to validate the safety skill “limit interaction energy” by measurement for robotic grippers. In this context, the skill “limit interaction energy” is commonly used to protect workers from injuries caused by clamping and squeezing of body parts by the closing gripper. The validation of this protocol requires that the reader has a bio-fidelic measurement instrument available to measure contact forces and pressures.

The purpose of this protocol is to validate the safety skill “limit range of movement” for grippers of industrial robots. In this context, the skill “limit range of movement” is often used to avoid the possibility of clamping a part of an operator body dur ing robot operations, typically pick and place tasks. The validation protocol is aimed at verifying gripper working when limits are set, by the use of Gauge blocks.

The purpose of this protocol is to validate the safety skill “limit range of movement” for rehabilitation robots, where a limb of a subject has a connection point with the robot (either free or restrained) and the robot can move that point within a 3D volu me. ing.

The purpose of this protocol is to validate the safety skill “limit range of movement” for rehabilitation robots, where a limb of a subject has a connection point with the robot (either free or restrained) and the robot can move that point within a 3D volu me. The range of motion is assessed using tached to the robot .

The specific purpose of this protocol is to validate the safety skill “limit interaction energy” by measurement. Its scope is limited to robot arms operating in the domain Manufacturing. In this context, the skill “limit interaction energy” is often used to protect workers from injuries caused by robot collisions where the robot hits a part of the human body that can freely move. The validation of this protocol requires that the reader has a bio-fidel force and pressure measurement device available. The instrument must allow for measuring the highest pressure during the collision.