Robotics and autonomous systems

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 purpose of this protocol is to validate the safety skill Limit Restraining Energy for a robotic device acting on a single human joint along one degree of freedom. In this document the safety skill protects the user of a robotic device from excessive torques applied to a joint. The validation experiment is performed using a 1D force sensor and a testing frame placed around the robotic device. The torque generated by the robotic device is derived from the measured force. This protocol is based on a safety test protocol developed in the COVR funded FSTP project SAFEharbor, by Amsterdam VUMC, TU Delft and LUMC and was published as Deliverable D1.4 for that project.

The purpose of this protocol is to test the skill “dynamic stability” of (mobile) weight support systems (with gait following function) type RACA robots* by measurement. Its scope is limited to weight support systems in indoor applications. In this context, the objective is to protect users and bystanders from injuries caused by tilting of the weight support system. The validation of this protocol requires that the reader has access to an inclinometer, a winch and a suitable 1D force sensor for tension force measurements.

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.

ISO/TR 20218-2:2017 is applicable to robot systems for manual load/unload applications in which a hazard zone is safeguarded by preventing access to it. For this type of application, it is important to consider the need for both access restrictions to hazard zones and for ergonomically suitable work places.ISO/TR 20218-2:2017 supplements ISO 10218-2:2011 and provides additional information and guidance on reducing the risk of intrusion into the hazard zones in the design and safeguarding of manual load/unload installations.

ISO 9409-2:2002 defines the main dimensions, designation and marking for a shaft with cylindrical projection as mechanical interface. It is intended to ensure the exchangeability and to keep the orientation of hand-mounted end effectors.ISO 9409-2:2002 does not contain any correlation of load-carrying ranges.The mechanical interfaces specified in ISO 9409-2:2002 will also find application in simple handling systems which are not covered by the definition of manipulating industrial robots, such as pick-and-place or master-slave units.

ISO 14539 is one of a series of standards dealing with the requirements of manipulating industrial robots. Other documents cover such topics as terminology, general characteristics, coordinate systems, performance criteria and related test methods, safety, mechanical interfaces and graphical user interfaces for programming

This document provides guidance on safety measures for the design and integration of end-effectors used for robot systems. The integration includes the following:— the manufacturing, design and integration of end-effectors. — the necessary information for use.This document provides additional safety guidance on the integration of robot systems, as described in ISO 10218‑2:2011.

ISO 10218-2:2011 specifies safety requirements for the integration of industrial robots and industrial robot systems as defined in ISO 10218-1, and industrial robot cell(s). The integration includes the following:the design, manufacturing, installation, operation, maintenance and decommissioning of the industrial robot system or cell. necessary information for the design, manufacturing, installation, operation, maintenance and decommissioning of the industrial robot system or cell. component devices of the industrial robot system or cell.ISO 10218-2:2011 describes the basic hazards and hazardous situations identified with these systems, and provides requirements to eliminate or adequately reduce the risks associated with these hazards. ISO 10218-2:2011 also specifies requirements for the industrial robot system as part of an integrated manufacturing system. ISO 10218-2:2011 does not deal specifically with hazards associated with processes (e.g. laser radiation, ejected chips, welding smoke). Other standards can be applicable to these process hazards.

ISO 10218-1:2011 specifies requirements and guidelines for the inherent safe design, protective measures and information for use of industrial robots. It describes basic hazards associated with robots and provides requirements to eliminate, or adequately reduce, the risks associated with these hazards.ISO 10218-1:2011 does not address the robot as a complete machine. Noise emission is generally not considered a significant hazard of the robot alone, and consequently noise is excluded from the scope of ISO 10218-1:2011.ISO 10218-1:2011 does not apply to non‑industrial robots, although the safety principles established in ISO 10218 can be utilized for these other robots.

This International Standard specifies how characteristics of robots shall be presented by the manufacturer.

This International Standard describes methods of specifying and testing the following Performance characteristics of manipulating industrial robots: pose accuracy and pose repeatability; multi-directional pose accuracy Variation; distance accuracy and distance repeatability; Position stabilization time; Position overshoot; drift of pose characteristics; exchangeability; path accuracy and path repeatability; path accuracy on reorientation cornering deviations; path velocity characteristics; minimum posing time; static compliance; weaving deviations.