This document defines terms relevant to automatic end-effector exchange systems used as a part of robot systems in accordance with ISO 10218‑2.

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This document defines terms used in relation to robotics.

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This document describes methods of specifying and evaluating the performance of lower-back support robots. This document applies regardless of the purpose and application of lower-back support robots and the driving methods (e.g. electric, hydraulic and pneumatic). This document does not apply to medical robots, although the test methods specified in this document can be utilized for medical robots. This document is not intended for the verification or validation of safety requirements.

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This document describes methods of specifying and evaluating the manipulation performance of service robots, notably: — grasp size; — grasp strength; — grasp slip resistance; — opening a hinged door; and — opening a sliding door. There are other grasping characteristics and use cases for manipulation of service robots. It is expected that these will be included in a future revision. This document deals with the indoor environment only. However, the depicted tests can also be applicable for robots operating in outdoor environments. This document is not applicable for the verification or validation of safety requirements.

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This document presents requirements and guidelines on the specification of modular frameworks, on open modular design and on the integration of modules for realising service robots in various environments, including personal and professional sectors. The document is targeted at the following user groups: — modular service robot framework developers who specify performance frameworks in an unambiguous way; — module designers and/or manufacturers who supply end users or robot integrators; — service robot integrators who choose applicable modules for building a modular system. This document includes guidelines on how to apply existing safety and security standards to service robot modules. This document is not a safety standard. This document applies specifically to service robots, although the modularity principles presented in this document can be utilized by framework developers, module manufacturers, and module integrators from other fields not necessarily restricted to robotics.

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This document describes methods that can be used to test personal care robots in terms of safety requirements defined in ISO 13482. The target robots of this document are identical to those of ISO 13482. The manufacturer determines the required tests and appropriate testing parameters based on a risk assessment of the robot's design and usage. This risk assessment can determine that tests and test parameters other than those contained in this document are acceptable. Not all test methods are applicable to all robot types. Test methods labelled "universal" are applicable to all personal care robots. For other tests, the heading states for which robot types the test can be applied (e.g. "for wearable robot" or "for mobile robot"). Some test methods can be replaced by using other applicable standards, even if they are not listed in this document.

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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.

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This document provides guidance on the use of ISO 13482 and is intended to facilitate the design of personal care robots in conformity with ISO 13482. Additional guidance is provided for users with limited experience of risk assessment and risk reduction. This document provides clarification and guidance on new terms and safety requirements introduced to allow close human-robot interaction and human-robot contact in personal care robot applications, including mobile servant robots, physical assistant robots and person carrier robots. This document considers the application of ISO 13482 to all service robots and includes related examples.

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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.

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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.

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ISO 19649:2017 defines terms relating to mobile robots that travel on a solid surface and that operate in both industrial robot and service robot applications. It defines terms used for describing mobility, locomotion and other topics relating to the navigation of mobile robots.

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ISO 18646-1:2016 describes methods for specifying and evaluating the locomotion performance of wheeled robots in indoor environments.

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ISO/TS 15066:2016 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. ISO/TS 15066:2016 applies to industrial robot systems as described in ISO 10218‑1 and ISO 10218‑2. It does not apply to non-industrial robots, although the safety principles presented can be useful to other areas of robotics. NOTE This Technical Specification does not apply to collaborative applications designed prior to its publication.

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ISO 13482:2014 specifies requirements and guidelines for the inherently safe design, protective measures, and information for use of personal care robots, in particular the following three types of personal care robots:
mobile servant robot;
physical assistant robot;
person carrier robot.
These robots typically perform tasks to improve the quality of life of intended users, irrespective of age or capability. ISO 13482:2014 describes hazards associated with the use of these robots, and provides requirements to eliminate, or reduce, the risks associated with these hazards to an acceptable level. ISO 13482:2014 covers human-robot physical contact applications.
ISO 13482:2014 presents significant hazards and describes how to deal with them for each personal care robot type.
ISO 13482:2014 covers robotic devices used in personal care applications, which are treated as personal care robots.
ISO 13482:2014 is limited to earthbound robots.
ISO 13482:2014 does not apply to:
robots travelling faster than 20 km/h
robot toys;
water-borne robots and flying robots;
industrial robots, which are covered in ISO 10218;
robots as medical devices;
military or public force application robots.
The scope of ISO 13482:2014 is limited primarily to human care related hazards but, where appropriate, it includes domestic animals or property (defined as safety-related objects), when the personal care robot is properly installed and maintained and used for its intended purpose or under conditions which can reasonably be foreseen.
ISO 13482:2014 is not applicable to robots manufactured prior to its publication date.
ISO 13482:2014 deals with all significant hazards, hazardous situations or hazardous events as described in Annex A. Attention is drawn to the fact that for hazards related to impact (e.g. due to a collision) no exhaustive and internationally recognized data (e.g. pain or injury limits) exist at the time of publication of ISO 13482:2014.

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EN ISO 13482 specifies requirements and guidelines for the inherently safe design, protective measures, and information for use of personal care robots, in particular the following three types of personal care robots: - mobile servant robot; - physical assistant robot; - person carrier robot. These robots typically perform tasks to improve the quality of life of intended users, irrespective of age or capability. This International Standard describes hazards associated with the use of these robots, and provides requirements to eliminate, or reduce, the risks associated with these hazards to an acceptable level. This International Standard covers human-robot physical contact applications. This International Standard presents significant hazards and describes how to deal with them for each personal care robot type. This International Standard covers robotic devices used in personal care applications, which are treated as personal care robots. This International Standard is limited to earthbound robots. This International standard does not apply to: - robots travelling faster than 20 km/h; - robot toys; - water-borne robots and flying robots; - industrial robots, which are covered in ISO 10218; - robots as medical devices; - military or public force application robots. The scope of this International Standard is limited primarily to human care related hazards but, where appropriate, it includes domestic animals or property (defined as safety-related objects), when the personal care robot is properly installed and maintained and used for its intended purpose or under conditions which can reasonably be foreseen. This International Standard is not applicable to robots manufactured prior to its publication date. This International Standard deals with all significant hazards, hazardous situations or hazardous events as described in Annex A. Attention is drawn to the fact that for hazards related to impact (e.g. due to a collision) no exhaustive and internationally recognized data (e.g. pain or injury limits) exist at the time of publication of this International Standard.

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IEC 60204-33:2009 applies to electrical and electronic equipment associated with semiconductor fabrication equipment for the manufacture, measurement, assembly, and test of semiconductors. It is applicable to the electrical equipment or parts of the electrical equipment that operate with nominal supply voltages not exceeding 1 000 V for alternating current (a.c.) and not exceeding 1 500 V for direct current (d.c.), and with nominal supply frequencies not exceeding 200 Hz. For higher voltages or frequencies, special requirements IEC 60204 applies to electrical and electronic equipment associated with semiconductor fabrication equipment for the manufacture, measurement, assembly, and test of semiconductors.

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ISO 13482:2014 specifies requirements and guidelines for the inherently safe design, protective measures, and information for use of personal care robots, in particular the following three types of personal care robots: mobile servant robot; physical assistant robot; person carrier robot. These robots typically perform tasks to improve the quality of life of intended users, irrespective of age or capability. ISO 13482:2014 describes hazards associated with the use of these robots, and provides requirements to eliminate, or reduce, the risks associated with these hazards to an acceptable level. ISO 13482:2014 covers human-robot physical contact applications. ISO 13482:2014 presents significant hazards and describes how to deal with them for each personal care robot type. ISO 13482:2014 covers robotic devices used in personal care applications, which are treated as personal care robots. ISO 13482:2014 is limited to earthbound robots. ISO 13482:2014 does not apply to: robots travelling faster than 20 km/h robot toys; water-borne robots and flying robots; industrial robots, which are covered in ISO 10218; robots as medical devices; military or public force application robots. The scope of ISO 13482:2014 is limited primarily to human care related hazards but, where appropriate, it includes domestic animals or property (defined as safety-related objects), when the personal care robot is properly installed and maintained and used for its intended purpose or under conditions which can reasonably be foreseen. ISO 13482:2014 is not applicable to robots manufactured prior to its publication date. ISO 13482:2014 deals with all significant hazards, hazardous situations or hazardous events as described in Annex A. Attention is drawn to the fact that for hazards related to impact (e.g. due to a collision) no exhaustive and internationally recognized data (e.g. pain or injury limits) exist at the time of publication of ISO 13482:2014.

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ISO 9787:2013 defines and specifies robot coordinate systems. It also provides nomenclature, including notations, for the basic robot motions. It is intended to aid in robot alignment, testing, and programming. ISO 9787:2013 applies to all robots and robotic devices as defined in ISO 8373.

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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.

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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.

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This part of ISO 10218 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. This part of ISO 10218 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 this part of ISO 10218. This part of ISO 10218 does not apply to non-industrial robots, although the safety principles established in ISO 10218 can be utilized for these other robots.

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This part of ISO 10218 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: a) the design, manufacturing, installation, operation, maintenance and decommissioning of the industrial robot system or cell; b) necessary information for the design, manufacturing, installation, operation, maintenance and decommissioning of the industrial robot system or cell; c) component devices of the industrial robot system or cell. This part of ISO 10218 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. Although noise has been identified to be a significant hazard with industrial robot systems, it is not considered in this part of ISO 10218. This part of ISO 10218 also specifies requirements for the industrial robot system as part of an integrated manufacturing system. This part of ISO 10218 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.

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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.

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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.

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IEC 60204-33:2009 applies to electrical and electronic equipment associated with semiconductor fabrication equipment for the manufacture, measurement, assembly, and test of semiconductors. It is applicable to the electrical equipment or parts of the electrical equipment that operate with nominal supply voltages not exceeding 1 000 V for alternating current (a.c.) and not exceeding 1 500 V for direct current (d.c.), and with nominal supply frequencies not exceeding 200 Hz. For higher voltages or frequencies, special requirements IEC 60204 applies to electrical and electronic equipment associated with semiconductor fabrication equipment for the manufacture, measurement, assembly, and test of semiconductors.

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ISO 9409-1:2004 defines the main dimensions, designation and marking for a circular plate as mechanical interface. It is intended to ensure the exchangeability and to keep the orientation of hand-mounted end effectors. It does not define other requirements of the end effector coupling device. It does not contain any correlation of load-carrying ranges, as it is expected that the appropriate interface is selected depending on the application and the load-carrying capacity of the robot.

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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.

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

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Supplies information on the state-of-the-art of test equipment operating principles. Additional information is provided that describes the applications of current test equipment technology to ISO 9283.

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2010-09-08 EMA: // ENQ draft provided to ISO/CS according to notification received in dataservice on 2010-09-07.

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2010-09-08 EMA: // ENQ draft provided to ISO/CS according to notification received in dataservice on 2010-09-07.

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ISO 9409-1:2004 defines the main dimensions, designation and marking for a circular plate as mechanical interface. It is intended to ensure the exchangeability and to keep the orientation of hand-mounted end effectors.
It does not define other requirements of the end effector coupling device.
It does not contain any correlation of load-carrying ranges, as it is expected that the appropriate interface is selected depending on the application and the load-carrying capacity of the robot.

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This International Standard defines and specifies robot co-ordinate systems. It also provides a nomenclature including notation for the basic robot motions. It is intended to aid in robot alignment, testing and programming. This International Standard applies to all manipulating industrial robots as defined in ISO 8373. In cases where there is no risk of confusion, nomenclatures or subscripts other than those specified in this Internationa Standard may be used.

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Defines terms relevant to manipulating industrial robots operated in a manufacturing environment.

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This International Standard focuses on the functionalities of end effectors rather than on those of robot arms or wrists, and concentrates on grasp-type grippers. A grasp-type gripper is a gripper that handles an object with finger(s). (See 4.1.2.1). The main part of this International Standard provides terms to describe object handling and terms of functions, structures and elements of grasp-type grippers. Annex A, which is informative, provides formats for presenting characteristics of grasp-type grippers.

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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.

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

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Defines terms relevant to automatic end effector exchange systems used for manipulating industrial robots. The terms are presented by their symbol, unit, definition and description. The definition includes references to existing standards.

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Defines terms relevant to manipulating industrial robots operated in a manufacturing environment.

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ISO 8373:2012 defines terms used in relation with robots and robotic devices operating in both industrial and non-industrial environments.

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ISO 9409-1:2004 defines the main dimensions, designation and marking for a circular plate as mechanical interface. It is intended to ensure the exchangeability and to keep the orientation of hand-mounted end effectors.
It does not define other requirements of the end effector coupling device.
It does not contain any correlation of load-carrying ranges, as it is expected that the appropriate interface is selected depending on the application and the load-carrying capacity of the robot.

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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.

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