Robotics and autonomous systems

This document describes methods of specifying and evaluating the navigation performance of mobile service robots. Navigation performance in this document is measured by pose accuracy and repeatability, as well as the ability to detect and avoid obstacles. Other measures of navigation performance are available but are not covered in this document.The criteria and related test methods are applicable only to mobile platforms that are in contact with the travel surface. For evaluating the characteristics of manipulators, ISO 9283 applies.This document deals with indoor environments only. However, the depicted tests can also be applicable for robots operating in outdoor environments, as described in Annex A.This document is not applicable for the verification or validation of safety requirements. It does not deal with safety requirements for test personnel during testing.

ISO 12100:2010 specifies basic terminology, principles and a methodology for achieving safety in the design of machinery. It specifies principles of risk assessment and risk reduction to help designers in achieving this objective. These principles are based on knowledge and experience of the design, use, incidents, accidents and risks associated with machinery. Procedures are described for identifying hazards and estimating and evaluating risks during relevant phases of the machine life cycle, and for the elimination of hazards or sufficient risk reduction. Guidance is given on the documentation and verification of the risk assessment and risk reduction process.ISO 12100:2010 is also intended to be used as a basis for the preparation of type-B or type-C safety standards.It does not deal with risk and/or damage to domestic animals, property or the environment.

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.

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 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.

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.

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.

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 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.