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Contents
1.2. 67
3. KFE 1 3 IS0
4. RK 9 2 6 O G 2 j L C D Z
5. 1
6. 5 2 1 5 2 2
7. ISO 6 DC 10
8. lt 0 0 0 0 2 gt 19 7 GEAG UAT R zz mma
9. Acceptable risk Accepted risk Tolerable risk 2 2 2 2 3
10. 2 2 1 3
11. JIS Z8051
12. 02 26 2 2 1 28 RO 2 Os EFL BEISEOD25 MZDE LSEMEEESET OSITOFBDIECESBSO IX IHEIEIES A4 3 55 0 4Db 6 EDIPE EDIMDSOI oU CH SIEX EO b BERG
13. 2 0 3 4 T5 0
14. IDECUS REZE yyt S7 cM p ARA p IFFI WTE y DETYA R amp D 2 hu BEEN
15. 4
16. 2
17. 13 5s 5 1
18. 2 2 NR
19. 1 2 3 Ne 4 15
20. 2 2 2 a b ERa c d e
21. 5 7 2 Requirements for cableless installations communications gt f Loss of communication or loss of battery power on any active pendant e g paired to a robot shall result in a protective or emergency stop for all controlled equipment Restoration of communication shall not restart robot motion without a separate deliberate action see SO 10218 1 2006 5 8 6 and IEC 60204 1 2005 9 2 7 5 9 2 Emergency stop gt IS010218 Part1 Part2 Part2 work space safeguarded space
22. 5 5 jou 2 4
23. HRE ta 7t MITT 2M SE ABTA aR FAJAS nm ZERRIN RT R amp D BEEN Meus y 3 ISO XII gl lift En RI N
24. 2 1 2
25. 5 s UMS UIDI UT US dU 2 a b 7 RNN 2 c d
26. Ds o dy 2 5 1 0 1 E 2 2 1 JBE 23db 7c E BIBT U 782 KE 2 3
27. SC2 DU Sep OPES FOT quos ule BS Sed 3ab0J eB SC2 SC2 AR PSARY FEART AJIT AIA 1 IS0 TC184 SC2 PT2
28. The controls shall be designed consistent with Part 1 5 3 5 The robot system shall not respond to any external remote commands or conditions that would cause hazardous situations 50 2 2 XEPPWUEBSZ AR measures 4 Hazard identification and risk assessment 4 7 IB Robot System Layout Design System conspicuity Colour or contrast or colour pattern may be used to draw attention to the hazards associated with moving parts to distinguish the moving parts from the background Sanitation applications may require specific coloring that does not allow for 30 conspicuity due to the need for product quality 5 4 6 Material handling gt
29. SC2 2006 FA 20 SC5 WG6 SC2 2007 10 SC5 WG6 WG6 ISO 20242 Annex 3 2 ISO 3 2 1 3 2 1 ISO d Manipulatin
30. 5 4 6 Material handling X C 5 6 2 IB Requirements for Cableless installations communications 5 10 IH Collaborative robots lt Seobe Robot system and Integration Integration installation installtion installation validation WC E CIO lt 3 Terms and definitions gt application application
31. b c 1
32. Gurvinder Singh Virk 412 2007 4000 500 gt FOE AGI WG4
33. TERELI 2 1 2 5 1 2
34. s Ds Installation Specifications gt 5 3 8 Robot system stopping functions 206 181 387 5 2 xs 2006 11 Specifications Design and installation 5 3 15 Enabling Devices Additional enabling devices shall comply with ISO 10218 1 5 8 3 A common enabling device circuit shall be provided when the restricted spaces of robots overlap common enabling d
35. IS013857 Safety of machinery Safety distances to prevent danger zones being reached by upper and lower limbs Dimensions of the gaps in guards for robot systems Means to avoid passage entry 5 6 2 Requirements for Cableless installations communications 1
36. i 135 MISI 1 2 1 2 ROHH C E E BLA D c c o ep 9 8 c A 9 9 oA 9A 9 c9 4 x 2 2 1 11
37. PT3 56 PT3 4 wi 2 ROSTA 5 PT3 Robot Reprogrammable or autonomous mechanical system moving in its environment programmable in more than one axis Moving Motion of itself and or manipulation of objects Autonomy Ability to control movement and or communication based on sensing and planning Or Ability to control movement and or comm
38. 2 Wo po vq DIKE i NIST O 3 3 2 1HS0 TG184 S02 PTI 80 10218 REN 1 2007 6 4 09 00 17 00 2007 6 5 08 30 17 00 2007 6 6 08 30 15 00 2 ISO 10218 Project meeting ISO 10218 Project meeting ISO 10218 Project meeting The National Institute of Standards amp Technology NIST 100 Bureau Drive Stop 1070 Gaithersburg MD 20899 1070 USA 3 1 Jeff Fryman 7 1 36 A E ITA RA X B do V Mr Ms Mr PAS gJ K 3 3 ZO ED m K Ms Xo X Xx X XX x
39. 2 OM UNO Eq e 2 2 2 Z ost 3 o E IOlJ4J4 5 NTUCIREGODHITE Flo Ts
40. 5 5 3 4 Power Requirements gt CEN Comite Europeen de Normalisation Np 2006 42 EC Electric enclosures shall be mounted so that their doors can be fully opened and escape routes are always available even when doors are opened This is fulfilled when doors can be easily pushed in close position considering escape direction It is also fulfilled when the remaining clearance is not less then 500mm see also IEC 60364 7 729 39 Low voltage electrical installations Part 7 729 Requirements for special installations or locations Operating or maintenance gangways 5 9 19 Lighting gt CEN 2006 42 EC
41. Ver 5 Definition ver 5 A machine with a degree of autonomy that controls its own state or the state of its environment by means of actuators with more than one degree of freedom under sensory and reprogrammable computer control service Robot 1 A robot which provides usefulness for the well being of humans society and equipment excluding manufacturing operations service Robot 2 A robot which provides usefulness for the well being of humans society and equipment excluding direct manufacturing operations WG2 Performance Performance Localization metrics Absolute and Relative Force Pressure Speed Velocity Image recognition Surface finish Cleanliness Obstacle detection avoidance WG3 Software 0MG Robot Middleware WG4 Technical tasks Black box Environment Modularity OMG Chung OMG Robot Middleware
42. SC4 5 AGI PT 3 Vocabulary on robots and robotic devices Z Rodolphe Gelin IS0 TC184 SC2 PT3 ISO 8373 1994 SC2 SC2 PT3 PT3 PT2 Robots in personal care Gurvinder Virk PT2 6 TC TC far close touching invasive Non invasive robots O Invasive robots 25 Non invasive NP CD
43. 2 SC2 Draft Part2 EU New machinery directive Part2 ISO EN IS0 TC184 SC2 Plenary Part2 SC2 SC2 SC2
44. 2 2 3 2 LI 2 2 4 M X UT F
45. 2007 6 2007 6 1S0 TC184 SC2 AG1 SC2 SC2 ISO 8373 IS0 TC184 SC2 PT3 2007 11 1S0 8373 1S0 10218
46. L ISO 10218 s eism tini 3 El Partl 1S013849 1 1999 2006 SC2 1 C 32 1999 2006 CEN ISO DIS 12643 2 2007 Safety requirements for graphic technology equipment and systems Part 3 Binding and finishing equipment ISO 13849 1 2006 1999 1999 L ISO CEN
47. c L d 4 a b
48. 3 4 5 2 2 2 2 1 D
49. VN c 14 d f 5 2
50. 5 10 Selection of protective devices gt protective devices Safeguarding Safeguarding Fixed and movable interlocked guards Interlocking means Presence sensing devices safety light curtains screens AOPD Active Opto electronic Protective Devices safety mat systems PSPD Presence Sensing Protective Devices area scanning safeguarding systems AOPDDR Active Opto electronic Protection Devices responsive to Diffuse Reflection Operator locating safety devices NN PPE 5 10 3 Safety distances gt Minimum Distance from Hazard safety distance IS013857
51. PT2 5 1 General Japan 5 2 General requirements Japan Power transmission components etc 5 3 Recommended design methodology Japan Intrinsic safety Protective measures Information for use Approach methodology 5 4 Intrinsic safe design Korea 5 5 Safeguard and complimentary protective measures Actuating controls France Safety related control system performance France Robot stopping functions Sweden Reduced speed Force control France Human detection Japan Operational modes Japan Human robot interfaces UK Pendant controls Tele control Remote control Control of simultaneous motion Collaborative operation requirements UK Singularity protection Sweden Axis limiting Korea Movement without drive power Korea Provisions for lifting Korea Electrical connectors 5 7 Reduced Speed Force Control Speed control Position of the user Force control 5 8 Human Detection Classification of sensing objects Type 1 Non contact sensing Type 2 Contact sensing Classification of sensing devices 49 Type 1 Relative Type 2
52. 18 4 1 28 2 2 2 1 28 2 24 11 2 2 2 2
53. 2 12 2006 1 IS0 1EC C 3 3 3 1S0 TC184 SC2 PT1 ISO 10218 1 20074E 10H 22H H 9 00 17 00 20074610 H 23H CK 8 30 17 00 2007 10 H 24 K 8 30 15 00 2 CSA The Canadian Standards Association 3 10 4 2 Jeff Fryman RIA Roberta Nelson Shea Pilz Automation Safety L P Michael A Taubitz General Motors Corporation Mike Douglas General Motors Corporation R Todd Dickey Honda Engineering North America Inc William Drotning Sandia National Laboratries David Felinski AMT Association for Manufacturing Technol
54. 3 Option 1 ISO 8373 Option 2 ISO 8373 Option 3 ISO 8373 3 Option 3 5 59 6 General Mechanical structures Geometry and kinematics Mobility Manipulation ISO 14539 Object habdling Programming and control Perception Autonomy and learning Safety Performances oes 6 2008 6 30 7 1 X REE 3 3 10 TS0 TC184 SC2 Ac1
55. 2 3 2368 3 5 3 3 0 2 1
56. 19 2 2 1 JIS B9700 9702
57. e id os 3 a b
58. RS ZAR 2 0 3 x gr m p Z ZU HI J s ye FE J 7 J HR J ORIS Hi s K E
59. Partl gt 14 IS013849 1 Safety of machinery Safety related parts of control systems Part 1 General principles for design Part2 Part2 IS013949 1 2006 Performance level lt gt 5 4 1 Dynamic limiting Change Performance Level ISO 13849 1 to Categories ISO 13849 1999 lt E Mr Mike Douglas General Motors Corporation Mr Claude Dinsmoor FANUC Robotics America Inc F4 gt Mr Otto Gomemann SICK Vertriebs AG X E Mr Steven Shaw Health and Safety Executive Ms Anette Wester Odbratt JOKAB SAFETY AB CEN Dr Patrick Kurtz Federal Institute for Occupational Safety and Health DECH
60. DIS DIS 2 PT1 PT1 ISO 13849 1 IEC 62061 ISO 10218 2 IS0 10218 1 ISO 13849 1 ISO 10218 2 ISO 13855 PT1 ISO 13855 TC199 2 ISO 10218 1 2006 BSR RIA ISO 10218 1 200X 7 ISO 10218 2 RIA 15 06 RIA 15 06 ISO 10218
61. 2 3 e OMG RT Middleware OMG RT M 6 RFP gt WG Performance Safety Standards for Intelligent Robots in Korea Seungbin Moon K K V EE C 13803 2 C Performance Safety Standards for Intelligent Robots Intelligent Robot Standardization Forum IRSF Personal Service Robot Committee Professional Service Robot and Manufacturing Robot Committee2 WG Sungsoo Rhim Kyung Hee Univ C Samsung Electronics LG Electronics Yujin Robotics KAR KAS IRSF Service robot Vocabulary Methods of measuring the performance of household cleaning robot General rules on the safety of intelligen
62. 1 2007 6 4 2 NIST 100 Bureau Drive Stop 1070 Gaithersburg MD USA 3 11 sig Er Seungbin Moon Sejong University Group leader Young gu Chung ETRI H Kim ETRI Rodolphe Gelin CEA List 2 Staffan Dryselius Robot Dalen BOE Gurvinder Singh Virk Clawar Ltd 0sman Tokhi University of Sheffield Bryan Bridge TWI 4 1 2 0MG Kim 981 2 SC2 RAPI ORIN SC5 RAPI 3 Progress Report WC WG1 robot
63. SC2 AGI 65 m Performance AG1 AG1 5 2008 6 25 2008 10 13 16 H A COEX 10 16 H R IS0 SC2 4
64. TC184 SC 23 industrial ZIFF OEE Eo e 5255 6 1 9 OMG Robotics DTF Yun Koo Chung OMG RAPI Chung 10 CEN TC310 IS0 TC184 SC2 EN ISO 15187 CEN SC2
65. robots in persona care 10218 1 gt entertainment personal care robots O C health care gt entertainment entertainment gt Part2 invasive gt risk assessment Testing and Verification SC2 gt 4 Hazard Identification and Risk Assessment gt 5 1 Design Requirement and Protective Measures Risk Elimination Reduction Intrinsic safety design gt gt 5 2 Safeguard and complimentary protective measures Speed Force control gt 5 2 Safeguard and complimentary protective me
66. 3 5 3 7 4 3
67. 1 3 ISO BAWA ISO ISO 10218 IS0 2 2 1 2 1 1 WE
68. Progress Report 61 Moon SC2 Progress Report 4 2007 11 26 3 3 11 ISO TC184 SC2 AG1 1 2007 11 26 2 3 5 8 65 3 15 sig E Seungbin Moon Sejong University Group leader Young Sook Jeong ETRI Yong Deuk Kim KATS Sang Guk Jung TTA Rodolphe Gelin CEA List 2 Staffan Dryselius Robot Dalen EA BOH Gurvinder Singh Virk Clawar Ltd 0sman Tokhi University of Sheffie1d Chris Haper AVIAN TECHNOLOGIES 4 1 Seungbin Moon
69. eTarget at each phase the lifecycle design of robots procurement manufacturing delivery installation application trial operation actual operation maintenance transportation and dismantlement e Participation of users in risk assessment e Determination of usage scenarios Various movements and the process of interface Functional limits no overwrite on safety related software program in unintended way by users and any program change by users will consequently oblige them to take their own risk assessment and responsibility of the function reconfigurations e Ethical issues associated with use of robots Type and number of humans in harm 4 5 Risk Evaluation 8 5 Design Requirement amp Protective Measures 5 5 5 Human Detection Regarding 5 5 5 2 Non contact sensing momentum based in terms of relative velocity between a robot and human criterion with elaborately chosen scope will be preferable when people carrier robot is taken into account since this type of personal care robot continuously make a human robot contact though a cabin seat or such part People carrier robot continuous intended contact as opposed to other types of PC robots which would have unintended contact between human and robot
70. ISO 10218 1 CEN EN ISO 10218 1 JIS B 8433 1 7 KSB ISO 10218 1 KSB 7983 PT1 10 2008 2 6 10 DAGI Moon IEC HA OMG PT robots in personal care IS0 8373 ISO 9283 10218 1 2
71. uy le sss u s people carier mbile manipulator physical assistance medica 1 surgery medical 4 iX 1 1 5 Part 1 Non invasive robots in personal care gt gt gt Scope gt ISO 10218 1
72. IS0 TC184 SC2 ISo 10218 3 1 1SO TC184 SC2 1 SC2 1984 5 22 ISO 10 fr TRA 5 WG 6 WG 2000 5 11 12 12 SC2 WG PT Project Team QUEIDD Wb Oc oss SC2 ISO 10218 1992 2002 1 15 1999 6
73. Moon CE 2 Lee 2 Part 1 Classification and general definition Part 2 Mobility and intelligence JIS B 0134 Manipulating industrial robots JIS B 0185 Intelligent robots JIS B 0186 Mobile robots JIS B 0187 Service robots 3 ISO 8373 IS0 8373 Harper Skype S0 8373 ISO 9283 9409 1 9787 9946 10218 4
74. ANSI RIA 15 06 PT Project Team PT 18 1S0 10218 1 2 2 2003 10 5 PT 2 2 2004 1 6 2 pese 2004 10 8 PT IS0 10218 ISO 10218 1SO tti qus ddribos Judd Talia tdi ride e SO 10218 1 Robots for industrial environments Safety
75. 3 Terms and definitions gt CD Tntegration 3 Act of combining a robot with other equipment or another machine including additional robots to form a machine system capable of performing useful work i e production of parts This act of machine building can include the requirements for the installation of the system synchronizedrobot Partl C r 4o C simultaneous motion lt 4 Hazard identification and risk assessment gt 5 5
76. WRUL Japan MM 7 w s DI 1 1 1 2 3 2 VUES yes Esp HEC edili iiid ES N N N N Aa CO N 3 ISO 3 1 Ne 2 3 3 I S O xir iod Ue atis ene werd quoc UR a aaa TE RSE 4 10 18 19 19 21 22 67 68 1 1 1
77. boc da E 8 ui o l MRE Bt MR d 29 2 10 X 2 2 3 1
78. 2 19 3 50 28 2 50 2 BSA tuo URAT ECAR A was 28 2 2 18 3 10
79. 413 2023 3 ISO 10218part2 5 5 5 3 8 Robot system stopping functions 7 389 151 38 5 3 DIS KK E 14
80. 26 14 EN Fryman Intelligent Assist Devices IAD odes de 15 2008 2008 ISO TC 184 SC 1 SC 4 SC 2 ISR SC 2 16 Desina project ISO 23570 3 Amendment 1 ISO TC184 SC1 SC 2 Eeebl 6 SC 1 ISO EN
81. 10 Selection of protective devices Safeguarding Barrier Opening Size Smallest dimension in mm 0 0 4 0 22 22 40 6 0 EL A c ME a 3 6 0 8 0 220 E106 G 8 0 10 0 280 25 J Minimum Distance from Hazard mm 10 0 12 0 210 amp 280 12 0 20 0 20 2120 J 20 0 30 0 850 zi J 9 20 0 30 0 20 Slotlenght365mm 30 0 40 0 850 200 J _ 40 0 120 0 850 za 66 Table 1 Minimum distance from hazard as a function of barrier opening size 5013852 1996 S Kx Ts Tc Tr C ISO 13855 minimum safe distance between safeguarding device and the hazard UNT 2 0 misec if 5 500mm K P P 1 5 misec if 5 gt 500mm If calculated 5 gt 500mm related to K 2m s and calculated 5 lt 500mm related to K 1 6 then use 2500mm Ts worst stopping time of the related hazardous element worst stopping time of the related control system response time of the safequarding device including its interface maximum travel towards the hazard within the presence sensing safeguarding devices PSSLD field that may occur before a stop is signaled Depth penetration factors will change depending on the type of device and application See Annex D fiqures1 to 3 for specific values In certain applications the
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83. 5 Jeff Fryman MU EX Rodolphe Gelin Mattias Lafvas 4 6 7 N522 AG1 PT2 WREIK V ISO 9283 2006 10 ISO TC 184 RAPI RAPI 12 AD IEEE 8 TC184 SC2 2006 10 ISO TC 184 SC2
84. L IS0 IS013857 10 3 12 22 cC US 5 SRO HFE 18 2008 2 25 H 27 H KUKA Roboter GmbH 36 19 2008 6 16 18 20 2008 10 13 15 IS0 TC184 SC2 10 16 17 3 3 4 ISO TC184 SC2 PT1 ISO 10218 1 2008 2 25 09 00 17 20 1S0 10218 Project meeting 2008 2 26 H 08 30 17 30 ISO 10218 Project meeting 2008 2 H 27H 08 30 15 30 1S0 10218 Project meeting 2008 2 28H 08 30 15 00 IS0 DIS10218 2 Editorial meeting 2 KUK
85. X NOTE 2 This requirement does not apply to reduced speed manual mode operations 5 10 Selection of protective devices gt protective devices Safeguarding Safeguarding a tN ED ISO IEC
86. 31 3 17 ISO 10218 project 2007 10 22 10H 24H CSA Canadian Standards Association RAF CSA 5060 Spectrum Way Suite 100 Mississauga Ontario LAW 5N6 CANADA 2 19 18 ISO 10218 project 2008 2 25 2 B 27 R KUKA 5 2 19 ISO 10218project 20084F6 J 16 H 6H18H RU C EP COMAU 4 2 4 1 1S0 CD10218 2
87. 5 5 3 a 5 2 b 5 1 C 5 1 d e 5 4 1 2
88. application 29 3 X application The intended use of the robot system e g spot welding painting assembly palletizing It is the process the task the intended purpose of the robot system protective stop Partl C 3 X protective stop Type of interruption of operation that allows an orderly cessation of motion for safeguarding purposes and which retains the programme logic to facilitate a restart ISO 10218 part 1 clause 3 17 gt lt 4 Hazard identification and risk assessment gt 4 4 5 1 1 General requirements for all robot uses gt 5 1 2 Robots used in Integrated Manufacturing Systems gt 5 2 3 Actuating controls
89. lt gt DIS 2007 6 16 6 3 Required validation MEE AME EE LCAJIBLC 1 DIS 5 4 Limiting 42 robot motion 5 5 Layout validation Me 5 19 ISO 10218project 2008 6 16 6 H 18H K ISO 10218project AA EY COMAU 4 2 20 ISO 10218project 2008 10 13 H J 10 H 15 H 1S0 TC184 SC2 10 16 CR 17 3 3 5 ISO TC184 SC2 PT2 Robots in personal care 1 2007 6 5
90. 19 1 1 9 20 3 http ringring keirin jp Is FE To REHATI CDM
91. 3 1 a b c d e f g h 16 a b 3 M a
92. CARS 2008 PT2 gt Part2 gt ISO Part2 2008 6 Organize special event with medical community at CARS 2008 2008 10 Structure and level 1 section heading within PT2 in Korea 2010 NWI proposed at SC2 Plenary meeting together with a pre CD 2011 DIS distributed 2012 FDIS distributed at SC2 Plenary meeting 2013 Part 2 standard formally offered for voting and acceptance by ISO 12 2008 6 26 K 27 CARS 2008 3 3 8 1S0 TC184 SC2 PT3 ISO 8373 DJ 1 2007 11 26 2 3 5 8 65 3 15 Rodolphe Gelin CEA List Project leader sig Er Seungbin Moon Sejong University Young So
93. VIII The measurement declaration and verification of noise emission values shall be made according to ISO 3746 or ISO 11202 as appropriate X 04h DIS CO 4 ISO DIS10218 2 Editorial meeting lt gt 4 7 Mr Jeff Fryman Robotic Industries Associations Mr Gilbert Dominguez Pilz Automation Safety L P Mr Helmut Riss Siemens AG Mr Otto Gomemann SICK Vertriebs AG Xx E Mr Steven Shaw Health and Safety Executive FER se ud b
94. 1 9 rac 1 9
95. PI20 52 4 2008 10 Pre CD standard to be submitted at SC2 Plenary meeting Korea 2010 DIS 2011 Completion and Issue 5 3 x Classification Groups personal care 6 BEAT 2 3 2 6 3 Terms and Definitions UK e Non invasive robots Invasive robots e Personal care robots A service robot with the intended purpose of either aiding or p
96. The level of required task lighting shall be identified and specified in the Information for Use Machinery must be supplied with integral lighting suitable for the operations concerned where the absence thereof is likely to cause a risk despite ambient lighting of normal intensity Machinery must be designed and constructed so that there is no area of shadow likely to cause nuisance that there is no irritating dazzle and that there are no dangerous stroboscopic effects on moving parts due to the lighting Internal parts requiring frequent inspection and adjustment and maintenance areas must be provided with appropriate light 5 3 16 Robot system clearance gt 0 5m reduced speed manual mode CEN reduced speed manual mode F
97. SC 2 invasive robots Non invasive robots 2 5 PT1 PT1 Fryman K E V HER gt collaborative robots personal care robots Surgery and medical robots Mobile manipulator robots Physical assistance robots People carrier robots 4 C PT1 PT1 PT2 SC2 AG1 12 ISO NP 29421 Robots and robotic devices Robot communication framework and application progra
98. PT1 Scope PT2 Scope Do PT3 Robots Industrial Robots Service Robots Robotic Devices 4 2008 2 19 13 00 17 00 5 PT2 PT3 AG1 2008 6 23 A 25 CIR 2008 10 13 CH 16 H R COEX 10 16 H A IS0 SC2 ISO TC184 3 3 12 ISO TC184 SC2 AG1 1 2008 2 18 H H 9 00 12 30 2 155 The Terrace Wellington 6011 New Zealand 3 1 1 sig Er Seungbin Moon Sejong University Group leader Soon geul Lee Kyung Hee University Heun chan Park Kor
99. 6 3 Mechanical testing Korea 6 4 Performance based method proposed by Korea look at ISO 10218 2 5 2008 2 20 H k 22 lt 3 3 7 1SO TC184 SC2 PT2 Robots in personal care 1 2008 2 20H Gk 9 007 17 00 2008 2 21 9 00 17 00 2008 2 22 H 4 amp 9 00 16 00 2 155 The Terrace Wellington 6011 New Zealand 3 12 Gurvinder Singh Virk Clawar Ltd Project leader Osman Tokhi University of Sheffield Bryan Bridge TWI Chris Haper AVIAN TECHNOLOGIES 77w Rodolphe Gelin CEA List sig Er Seungbin Moon Sejong University Soon geul Lee Kyung Hee University Heun chan Park Korea Testing Laboratory Jae kyoung Joo Korea Testing Laboratory Christopher Parlitz Fraunhofer IPA 4 1 2 3 Skype
100. EN ISO N 536 539 N 536 Z EN 3 N 537 N 538 N 539 PT 1 PT1 Fryman ISO 10218 1 11 D PT1 ISO 10218 Fryman IS0 10218 1 1S0 10218 2 CD IS0
101. An observer based controller e g Kalman filter can be used for redundant structure of sensing devices However the data from the observer shall fill demand specifications 9 6 Verification and Validation F4 gt UK IEC 61508 EC 61508 contains tables showing the required degree of verification amp validation effort needed for each SIL Part 2 Hardware system level design Part 3 Software design e Risk matrix Probability referring to SIL Table in IEC 61508 Frequent 10 5 10 6 hr a SILI Occasional 10 6 10 7 hr a SIL2 Remote 10 7 10 8 hr a SIL3 Improbable 10 8 10 9 hr a SIL4 10 7 Information for use UK h 7 3 CETACEA L 7 1 7 3 1 11 Part2 6 28
102. Federal Institute for Occupational Safety and Health G 0 KER RR N QE IDECR W 7 2 ISO 10218part2 DIS 6 5 5 4 181 Vii 18 cg des 14 2006 10 FDIS 5 TECHNICAL CORRIGENDUM 1 2 Tuc Shea
103. PIZ BEEE sit E Seungbin Moon Sejong University SN Soon geul Lee Kyung Hee University Yun Koo Chung ETRD Hun chan Park Korea Testing Laboratory Kwang ho Park Agency for Technology and Standards Gurvinder Singh Virk Clawar Ltd Osman Tokhi University of Sheffield Jeff Fryman RIA Roberta Nelson Shea Pilz Automation Safety L P David Fehnski Association for Manufacturing Technology Michael Douglas General Motors Corporation Michael Taubitz General Motors Corporation 222 Vernon Mangold ISS NAMAN Nicholas Dagalaris NIST 4 1 NIST Mary Saunders 2 D f amp Zg 818 23 do o 7 Erik Lundavist Mattias Lafvas 2354 Elisabeth Wiksen NIST 2 3 9 10 11 1 11 2 16 Desina 4 Erik Lundqvist N522
104. 9 30 17 00 2007 6 6 9 007 16 00 2 NIST 100 Bureau Drive Stop 1070 Gaithersburg MD USA 3 19 Gurvinder Singh Virk Clawar Ltd Project Leader 0sman Tokhi University of Sheffield Bryan Bridge TWI Rodolphe Gelin CEA List AJr 7 7 Staffan Dryselius Robot Dalen Mattias Lafvas SIS Elisabeth Wiks n SIS Vern Mangold NAMAN Abul K M Azad Northern Illinois Unv sig E Seungbin Moon Sejong University Soon geul Lee Kyung Hee University Sungsoo Rhim Kyung Hee University Young gu Chung ETRI 43 Kwang ho Park Korea Agency for Technology and Standards Heun chan Park Korea Testing Laboratory Jae kyoung Joo Korea Testing Laboratory ba BEH BOH 4 1 Dr Virk 2 3 personal care robots Gurgery and medical robots People carrier robots Mobile manipulator robots
105. lt AN ANO AO A X X 3 Jeff Fryman Robotic Industries Associations Roberta Nelson Shea Pilz Automation Safety L P Nicholas Dagalakia NIST William Drotning Sandia National Laboratories R Todd Dickey Honda Engineering North America Inc David Felinski Association for Manufacturing Technology Michael A Taubitz General Motors Corporation Mike Douglas General Motors Corporation Claude Dinsmoor FANUC Robotics America Inc Gilbert Dominguez Rimrock Automation Inc Troy Uahinui Toyota Motor Eng amp Manufacturing North America Vern Mangold NAMAN Dave Smith Honda Of Canada Mfg Jim Van Kessel JVK Industrial Automation Inc Tom Eastwood Industrial Accident Prevention Association Stefan Sagert VDMA Wieland Link Safety Consultant for Machinery Bernhard Kramer DaimlerChrysler AG Helmut Riss Siemens AG Otto Gomemann SICK Vertriebs AG Kevin Behnisch ABB Automation GmbH Steven Shaw Health and Safety Executive Renzo Calcagno COMAU Robotics Mr Hakan Brantmark ABB Robotics Anette Wester Odbratt JOKAB SAFETY AB Mr Mattias Lafvas SIS Swedish Standards Institute TC184 SC2 Ms Elisabeth Wiksen SIS Swedish Standards Institute TC184 SC2 Mr Jan Ingmar Rosenblad Motoman Robotics Europe AB Mr Robert Andersson Motoman Robotics Europe AB 2 CEN Dr Patrick Kurtz
106. 8 Other Issues Requirements an CEN CENELEC Guide 6 guidelines for standards developers to address the needs of older persons and persons with disabilities Robots for personal care are used for the benefit of humans with impairments and for those without fully developed capabilities Notably older people are often subject to multiple impairments some of which may be outside the target of the robot applications The instructions for use accompanying the robot and any other information relating to the operation of the robot or its use are to be included in the native language of the user Liability The liability of the manufacturer due to misuse of the robotic products may vary according to different legislations in different countries With appropriate information to users liability may in some cases be transferred to the user 6 Verification amp Validation Harper 0 6 1 General Thresholds for intrinsic safety Protective measures safety thresholds Reference IEC 61508 6 2 Electrical electronic software testing Unit or module testing Germany Integration testing Germany Acceptance testing UK Safety validation UK 5l
107. A Roboter GmbH 3 8 1 38 X E XMr Ms Dr Mr Mr gt lt Mr JU vm A Mr F4 gt gt lt Mr Wieland Link Safety Consultant for Machinery Jeff Fryman Robotic Industries Associations Roberta Nelson Shea Pilz Automation Safety L P William Drotning Sandia National Laboratories Claude Dinsmoor FANUC Robotics America Inc Wade Hickle Motoman Inc Mike Sedmak Motoman Inc R Todd Dickey Honda Engineering North America Inc Michael A Taubitz General Motors Corporation Mike Douglas General Motors Corporation Troy Uahinui Toyota Motor Eng amp Manufacturing North America Gilbert Dominguez Pilz Automation Safety L P Dave Smith Honda Of Canada Mfg Jim Van Kessel JVK Industrial Automation Inc Christopher Gow CAG Industrial Automation jason Hill The Hill Engneering Group Inc Uwe Stolzenbach FANUC Robotics Europe S A Stefan Sagert VDMA Frank Pfaffinger Berufsgenossenschaft Metall Nord S d Josef Leibinger KUKA Roboter GmbH 37 X E CIE XD prep XMr Richard Schwarz KUKA Roboter GmbH zB 3 z S R Mr Michael Gerstenberger KUKA Roboter GmbH Marcus Frey Durr Systems GmbH Kevin Behnisch ABB Automation GmbH Helmut Riss Siemens AG Otto Gomemann SICK Vertrie
108. BOISAUd JO uone469 u 19 pue bullepoAN L M SOS AIeJq Sued DWV OS wea 09IOJd 1d ZOS bullepoAN eed Z9WLOS YSN 19 s uoulAA JA BHJSOHBI9 N ysn unus WYN uoseN N uepews sene JIN UIHON JIN Aueuueo YOS M JIN ISso JIN SXJOMeuleJ uoneJ6981u 9 uoneo soole q IOJJUO IUnUJUUO 9Jn1291IUOJV SOS v8 VOLL ejeq IeWsnpul OS 8L 1 onoqos pue sjoqod ZOS 8L 1 SoIA9 IISAUd LOS 8L 1 9ouBJ uidney SA PJBI91BUO IN 9ouBJ uldneIN SIA DJBI91BUO JN 9ougJ eueg vsn eutrg JWA dnog AosIApV V 8L 1 OSI uoneJ6eju pue SUJ9 SAS uoneulojny jeujsnpu 98101 OSI SUJ9 SAG UOHBUJO1nV IeWsnpul C S KERE 8 L OS I 69 JE m d 1 9 FI VRE 2 0 3 T105 0011 5 8 03 3434 5384A4 T105 0011 5 8 03 3434 2919
109. ER CEOS O SXAI ING 2 3 X 2 2 2 24 RO 11 2
110. M 10 3 3 3 6 ISO TC184 SC2 PT2 Robots in personal care 1 2007 11 28 CK 9 00 17 00 2007 11 29 Ck 9 00 16 00 2 3 5 8 3 18 Gurvinder Singh Virk Clawar Ltd Project Leader 0sman Tokhi University of Sheffield Chris Haper AVIAN TECHNOLOGIES Rodolphe Gelin CEA List AJr 7 Y Staffan Dryselius Robot Dalen F4 gt Martin Haegel Fraunfoher IPA IFR mE E Seungbin Moon Sejong University Soon geul Lee Kyung Hee University Sungsoo Rhim Kyung Hee University Young Sook Jeong ETRI Yong Deuk Kim KATS Heun chan Park Korea Testing Laboratory Jae kyoung Joo Korea Testing Laboratory H 8 WR HJ EA MOH 4 1 2 3 personal care ro
111. Type 3 On Off contact and or force sensing device Admissible distance or contact force shall be determined by risk assessment Performance level of safety requirement by specified in below PL TS0 13849 1 2006 SIL IEC 61508 1998 Regulations for relative closing rate to human ref safety distance IS0 13857 Relative closing rate of human Xx Stop time of robot Max reach from center of human trunk Regulations for ill defined detection volume An observer e g w motor current information can be used for redundant structure of sensing devices however the data from the observer shall fill demanded specifications Intentional contact vs non intentional contact 7 Information for Use 1 1 General Define environments of operation Willful abuse of use 1 2 Life cycle Transportation Assembly Operation in use Startup Shutdown Setting Teaching Programming Process changeover 7 3 Specific issues interfaces operational modes etc Non invasive medical robots Mobile manipulators Physical assistance robots People carriers 1 4 Types of user User guides 50 Professional Personal Capability of user 1 5 Limits of use Environmental limits temperature indoors dust etc Payload handling capabilities e g not to spill a cup of tea 1 6 Quality and compliance statements T T Emergency procedures 7
112. approach speed may be reduced due to several circumstances Annex D Table1 gives reduction factors for the approach speed Tr for interlocked barrier may include a delay due to actuation This delay may result in Tr being a deduct negative value 5 10 4 General requirements for guards gt EN ISO 13852 1400m 1400m Ph X 2 28 IS0 DIS10218 2 Editorial meeting A1 lt 7 Information for use gt V information relating to the use of the integrated system e g a risks which could not be eliminated by the protective measures taken by the designer b particular risks which may be generated by certain applications by the use of certain fittings and about specific safeguards which are necessary for such applications c reasonably foreseeable misuse and prohibited usages
113. asures Human detection gt 6 Information for use gt Any other items specific to Users side 6 Part 2 Invasive robots in personal care Part2 160 TC SE Part 2 10 SC2 7 11 26 A 29 K 26 H AGI 27 k PT3 28 k 29 CR PT2 30 OUS 2 18 8 NIST 2 NIST CASD gt gt 45 CM
114. ation for Risk Assessment Determination of specifications Expected specifications of robots Applicable regulations Information for use 4 2 Restrictions about robots Restrictions on space etc 4 3 Identification of hazards UK Listed in 1S0 10218 IS0 12100 IS0 14121 4 4 Estimation of risk 4 5 Risk evaluation USA 4 6 Documentation 4 ARisk Evaluation Guide Scope Elements of risk evaluation Documentation 47 Classification summary Workspace description Potential hazards Training Risk evaluation training program Other safety training program Ek 5 Design Requirement and Protective Measures 5 1 General 5 2 General requirements Power transmission components Power loss or change Component malfunction source of energy Stored energy Electromagnetic compatibility Electrical equipment 5 3 Intrinsic safety design Materials Shapes Exchangable battery Noise and vibration Hazardous substance Ergonomic principles Provisions for mobility Provisions for manipulator Provisions for stability Provisions for falling Provisions for abnormal situations Test methods Annex Testbed for static obstacle avoidance Testbed for dynamic obstacle avoidance Testbed for minimum safe clearance
115. bots surgery and medical robots Mobile manipulator personal care robots Physical assistance supplementation robots Physical assistance augmentation robots 4 3 2007 12 31 Personal care robot industrial non industrial France Healthcare robot UK Non invasive amp Invasive PC robots Korea Classification groups medical supplementary etc Japan Proximity Contact UK Normal and physical impairments Sweden Cognitive capabilities Sweden 5 4 4 Hazard Identification and Risk Assessment 0 4 1 Necessary inform
116. bs AG Mr Steven Shaw Health and Safety Executive Renzo Calcagno COMAU Robotics Hakan Brantmark ABB Robotics Anette Wester Odbratt JOKAB SAFETY AB Mr Jan Ingmar Rosenblad Motoman Robotics Europe AB CEN Dr Matthias Umbreit Berufsgenossenschaft Metall Nord S d A RZJ E IDECUR CLE WTE 2 3 1 Jeff Fryman KUKA Leibinger KUKA AR ER ROAD E i ENET 1996 PC 2003 2005 2007 1000kgg KUKA 2007 11 2007 IWK 2007
117. ea Testing Laboratory Jae kyoung Joo Korea Testing Laboratory Gurvinder Singh Virk Clawar Ltd 0sman Tokhi University of Sheffie1d Bryan Bridge TWI Chris Haper AVIAN TECHNOLOGIES peto Christopher Parlitz Fraunhofer IPA 4 1 Seungbin Moon 2 3 4 IS0 SC2 PT PT4 Performance pese MY
118. erforming actions that contributes directly towards improvement of the quality of life of an individual pr group of individuals e Healthcare robots A personal care robot used within a medical or care giving environment e g hospital doctor s surgery therapeutic care centre geriatric care residence with the intended purpose of aiding and or performing actions that contributes directly to the improvement restorations or maintenance of human health e Level of human robot closeness Contact Zero proximity distance with or without force exerted between the two Close A proximity range between zero and the furthest distance reachable by the robot to cause contact within a time period determined by risk analysis Far A proximity range greater than close Unreachable to be added somewhere ndustrial personal care robots A personal care robot used in an industrial or manufacturing environment Non industrial personal care robots This is personal care robot 53 Normal human being 7 4 Hazard Identification and Risk Assessment USA e 4 Hazard Identification and Risk Assessment TSO 14121 FDIS 2006 personal care VP ISO 14121
119. evice c Oe Sos bs s 0 6 5 9 9 Robot system clearance 5 3 5 3 16 5 6 4 2 Manual reduced speed safe motion control safe slow speed X Manual reduced speed i DU L E RN eR lt 5 6 4 6 Remote operations in Manual Mode gt
120. g industrial robots 19 Mechanical interfaces Part 1 9 H 17 H Plates Systematic review Manipulating industrial robots 19 Mechanical interfaces Part2 9 H 17 H Shafts Systematic review ISO TC184 SC2 Manipulating industrial robots 20 N553 Mechanical interfaces Part 1 3 H 28 H Plates New Work Item Proposal IS0 TC184 SC2 ISO CD 9409 1 20 N554 Manipulating industrial robots 3 28 Mechanical interfaces Part 1 Plates 2 2 3 3 ISO 3 3 1 1SO TC184 SC2 1 2007 6 8 Ck 9 30 17 00 2007 6 9 4 amp 9 307 16 00 2 NIST 100 Bureau Drive Stop 1070 Gaithersburg MD USA 3 29 2 Mattias Lafvas SIS chairman temporary Elisabeth Wiksen SIS secretary Staffan Dryselius University of M lardalen H kan Brantmark ABB Automation Technolgies Tom Eastwood TAPA Industrial Accident Prevention Association Rodolphe Gelin CEA List pet Stefan Sagert DIN NAM VDMA Ernesto Otto G rnemann SICK Renzo Calcagno KOMAU Robotics DECH RA
121. m interface RAPI 3 TS0 TC184 SC5 ASAM SC2 RAPI SC5 SC5 WG 6 10 ISO TC 184 G SC5 RAPI 13 1S0 TC184 SC2 5 ISO 11593 1996 Manipulating industrial robots Automatic end effector exchange systems Vocabulary and presentation of characteristics ISO 5 5 ISO 9409 1 2004 Manipulating industrial robots Mechanical interfaces Part 1 Plates ISO 9409 2 2002 Manipulating industrial robots Mechanical interfaces Part 2 Shafts 9 17 IS09409 1
122. ogy Troy Uahinui Toyota Motor Eng amp Mfg North America Inc Dave Smith Honda of Canada Manufacturing Jim Van Kessel JVK Industrial Automation Inc Tom Eastwood IAPA 33 27 Jason Hill The Hill engineering group Inc Marcus Frey Durr Systems GmbH Bernhard Kramer DaimlerChrysler AG Wieland Link SMBG Suddeutsche Metall Berufsgenossenschaft Stefan Sagert DIN NAM c o VDMA Helmut Riss Siemens AG Josef Leibinger KUKA Roboter GmbH Richard Schwarz KUKA Roboter GmbH Otto Gomemann SICK Vertriebs AG Kevin Behnisch ABB Automation GmbH Renzo Calcagno COMAU Robotics Y Anette Wester Odbratt Jokab Safety AB Hakan Brantmark ABB Automation Technolgies Steven Shaw Health and Safety Executive jd wu CURT yRUEeM FR IDEC 4 1 H Frynan 2 IS010218 Part 2 5 6 IB Robot system operational mode application 5 5
123. ok Jeong ETRI Yong Deuk Kim KATS Jae Kyoung Joo KTL 2 Staffan Dryselius Robot Dalen AA Gurvinder Singh Virk Clawar Ltd 0sman Tokhi University of Sheffie1d Chris Haper AVIAN TECHNOLOGIES 4 1 p p o j e E O 000 2 TS08373 CD 2008 10 SC2 NWIP CD 3 Du 1508373 3
124. ot Virtual robot and software robot are not robots 6 2008 2 18 J 9 00 17 00 2008 2 19 CK 9 00 12 00 Gies ve T ma diues e 1 T PL IS08373 HE ERIS 5 3 3 9 ISO TCI84 SC2 PT3 ISO 8373 1 2008 2 18 13 30 15 00 2008 2 19 K 9 00 17 15 2 155 The Terrace Wellington 6011 New Zealand 3 Him 1145 Rodolphe Gelin CEA List Project leader sig E Seungbin Moon Sejong University Soon geul Lee Kyung Hee University Heun chan Park Korea Testing Laboratory Jae kyoung Joo Korea Testing Laboratory Gurvinder Singh Virk Clawar Ltd 0sman Tokhi University of Sheffie1d Bryan Bridge TWI Chris Haper AVIAN TECHNOLOGIES pet Christopher Parlitz Fraunhofer IPA A 1 Gelin
125. requirements Part 1 Robot e SO 10218 2 Robots for industrial environments Safety requirements Part 2 Robot system Part 1 2006 6 IS FDIS SC2 10 19 Part 2 Part 1 WD 2006 11 R NWIP CD 2008 DIS 2006 6 SC2 PGO R E ANa CB
126. t robots Test method for mechanical strength of service robots Requirement of electrical safety for service robots Test method for autonomous docking performance of service robots IRS Battery performance Inertial sensor performance Performance of navigation functions for autonomous mobile robots Robot microphone testing criteria for speech recognition service KS KSB 6934 Methods of measuring the performance of household cleaning robots KSB 6935 Service robot safety KSB 6936 Operating Stability Acceptance Testing Guidelines for Intelligent Robots KSB 6937 6938 Service robot Vocabulary 1 2 KSB 6939 Test methods of measuring the mobile performance of service robots part 1 determination of basic spec IS0 SC2 PT Performance Robotic Software Architecture Technical Tasks Blackbox Environments Modularity 722023 PT4 6 Performance 2009 2008 10 O SC2
127. unication using closed loop based on sensing and planning Autonomous Able to have some degree of autonomy Robotic device Mechanism moving in its environment programmable in one axis with a degree of autonomy Industrial Robot A robot for use in industrial automation applications Examples Manipulators for welding painting cutting assembling Mobile bases in industrial automation applications AGV Mobile Manipulators in industrial automation applications Assistive robots in industrial automation applications orthosis Service Robot A robot provides service excluding manufacturing robots Service Provision of usefulness for well being of humans society and equipment Examples Domestic robotised assistant home hospital public places e Cleaning mauling moving guiding carrying fetching Rehabilitation robot Orthosis exo skeleton Prosthesis Ey Surgery robot mini invasive robot gesture assistant 4 Teleoperated robot 4 UAV Drones Large structure maintenance robots Field robots agriculture demining defence security 4 Micro robot for inspection Surveillance robots After disasters intervention robots Planetary robot explorer Comments We keep reprogrammable from industrial manipulators that are not really autonomous Moving comes the fact that a washing machine even with more than one axis and closed loop control using sensors is not a rob
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