ISO/FDIS 8373

Robotics -- Vocabulary

Robotique -- Vocabulaire

General Information

• Status: Published
• ICS: 01.040.25 - Manufacturing engineering (Vocabularies)
• ICS: 25.040.30 - Industrial robots. Manipulators
• Technical Committee: ISO/TC 299 - Robotics
• Drafting Committee: ISO/TC 299/WG 1 - Vocabulary and characteristics
• Current Stage: 5020 - FDIS ballot initiated: 2 months. Proof sent to secretariat
• Start Date: 06-Jul-2021
• Completion Date: 06-Jul-2021

Standards Content (sample)

FINAL
INTERNATIONAL ISO/FDIS
DRAFT
STANDARD 8373
ISO/TC 299
Robotics — Vocabulary
Secretariat: SIS
Voting begins on: Robotique — Vocabulaire
2021­07­06
Voting terminates on:
2021­08­31
RECIPIENTS OF THIS DRAFT ARE INVITED TO
SUBMIT, WITH THEIR COMMENTS, NOTIFICATION
OF ANY RELEVANT PATENT RIGHTS OF WHICH
THEY ARE AWARE AND TO PROVIDE SUPPOR TING
DOCUMENTATION.
IN ADDITION TO THEIR EVALUATION AS
Reference number
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO­
ISO/FDIS 8373:2021(E)
LOGICAL, COMMERCIAL AND USER PURPOSES,
DRAFT INTERNATIONAL STANDARDS MAY ON
OCCASION HAVE TO BE CONSIDERED IN THE
LIGHT OF THEIR POTENTIAL TO BECOME STAN­
DARDS TO WHICH REFERENCE MAY BE MADE IN
NATIONAL REGULATIONS. ISO 2021
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ISO/FDIS 8373:2021(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2021

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ISO/FDIS 8373:2021(E)
Contents Page

Foreword ........................................................................................................................................................................................................................................iv

Introduction ..................................................................................................................................................................................................................................v

1 Scope ................................................................................................................................................................................................................................. 1

2 Normative references ...................................................................................................................................................................................... 1

3 Terms and definitions — general ........................................................................................................................................................ 1

4 Terms related to mechanical structure ......................................................................................................................................... 3

5 Terms related to geometry and kinematics ............................................................................................................................. 6

6 Terms related to programming and control ............................................................................................................................ 9

7 Terms related to performance ............................................................................................................................................................12

8 Terms related to sensing and navigation .................................................................................................................................14

9 Terms related to module and modularity ...............................................................................................................................15

Annex A (informative) Examples of types of mechanical structure ..................................................................................16

Bibliography .............................................................................................................................................................................................................................19

Alphabetical index of terms .....................................................................................................................................................................................20

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ISO/FDIS 8373:2021(E)
Foreword

ISO (the International Organization for Standardization) is a worldwide federation of national standards

bodies (ISO member bodies). The work of preparing International Standards is normally carried out

through ISO technical committees. Each member body interested in a subject for which a technical

committee has been established has the right to be represented on that committee. International

organizations, governmental and non­governmental, in liaison with ISO, also take part in the work.

ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of

electrotechnical standardization.

The procedures used to develop this document and those intended for its further maintenance are

described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the

different types of ISO documents should be noted. This document was drafted in accordance with the

editorial rules of the ISO/IEC Directives, Part 2 (see www .iso .org/ directives).

Attention is drawn to the possibility that some of the elements of this document may be the subject of

patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of

any patent rights identified during the development of the document will be in the Introduction and/or

on the ISO list of patent declarations received (see www .iso .org/ patents).

Any trade name used in this document is information given for the convenience of users and does not

constitute an endorsement.

For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and

expressions related to conformity assessment, as well as information about ISO's adherence to the

World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT), see www .iso .org/

iso/ foreword .html.
This document was prepared by Technical Committee ISO/TC 299, Robotics.

This third edition cancels and replaces the second edition (ISO 8373:2012), which has been technically

revised.
The main changes compared to the previous edition are as follows:
— definitions have been reviewed to take into account the state of the art;

— entries have been added, e.g. medical robot, wearable robot and terms related to modularity;

— terms and definitions have been updated for harmonization with existing standards.

Any feedback or questions on this document should be directed to the user’s national standards body. A

complete listing of these bodies can be found at www .iso .org/ members .html.
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ISO/FDIS 8373:2021(E)
Introduction

This document provides a vocabulary of terms and related definitions for use in ISO documents

relating to robotics. It supports the development of new documents and the harmonization of

existing International Standards. Future amendments might be published in order to harmonize with

ISO/TC 299 documents currently under development.
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FINAL DRAFT INTERNATIONAL STANDARD ISO/FDIS 8373:2021(E)
Robotics — Vocabulary
1 Scope
This document defines terms used in relation to robotics.
2 Normative references
There are no normative references in this document.
3 Terms and definitions — general

ISO and IEC maintain terminological databases for use in standardization at the following addresses:

— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at http:// www .electropedia .org/
3.1
robot

programmed actuated mechanism with a degree of autonomy (3.2) to perform locomotion, manipulation

or positioning
Note 1 to entry: A robot includes the control system (3.4).

Note 2 to entry: Examples of mechanical structure of robots are manipulator (4.14), mobile platform (4.16) and

wearable robots (4.17).
3.2
autonomy

ability to perform intended tasks based on current state and sensing, without human intervention

Note 1 to entry: For a particular application, degree of autonomy (5.4) can be evaluated according to the quality of

decision-making and independence from human. For example, metrics for degree of autonomy exists for medical

electrical equipment in IEC/TR 60601-4-1.
3.3
robotic technology

practical application knowledge commonly used in the design of robots or their control systems,

especially to raise their degree of autonomy (5.4)
EXAMPLE Perception, reasoning and planning algorithms.
3.4
control system
robot controller

set of hardware and software components implementing logic and power control, and other functions

which allow monitoring and controlling of the behaviour of a robot (3.1) and its interaction and

communication with other objects and humans in the environment
3.5
robotic device

mechanism developed with robotic technology (3.3), but not fulfilling all characteristics of a robot (3.1)

EXAMPLE Teleoperated remote manipulator, haptic device, end-effector, unpowered exoskeleton.

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ISO/FDIS 8373:2021(E)
3.6
industrial robot

automatically controlled, reprogrammable multipurpose manipulator (4.14), programmable in three or

more axes, which can be either fixed in place or fixed to a mobile platform (4.16) for use in automation

applications in an industrial environment
Note 1 to entry: The industrial robot includes:

— the manipulator, including robot actuators (4.1) controlled by the robot controller;

— the robot control;

— the means by which to teach and/or program the robot, including any communications interface (hardware

and software).

Note 2 to entry: Industrial robots include any auxiliary axes that are integrated into the kinematic solution.

Note 3 to entry: Industrial robots include the manipulating portion(s) of mobile robots, where a mobile robot

consists of a mobile platform with an integrated manipulator or robot.
3.7
service robot

robot (3.1) in personal use or professional use that performs useful tasks for humans or equipment

Note 1 to entry: Tasks in personal use include handling or serving of items, transportation, physical support,

providing guidance or information, grooming, cooking and food handling, and cleaning.

Note 2 to entry: Tasks in professional use include inspection, surveillance, handling of items, person

transportation, providing guidance or information, cooking and food handling, and cleaning.

3.8
medical robot

robot (3.1) intended to be used as medical electrical equipment or medical electrical systems

Note 1 to entry: A medical robot is not regarded as an industrial robot (3.6) or a service robot (3.7).

3.9
industrial robot system
robot system

machine comprising an industrial robot (3.6); end-effector(s) (4.12); any end-effector sensors and

equipment (e.g. vision systems, adhesive dispensing, weld controller) needed to support the intended

task; and a task program

Note 1 to entry: The robot system requirements, including those for controlling hazards, are contained in

ISO 10218­2.
3.10
robotics
science and practice of designing, manufacturing, and applying robots (3.1)
3.11
operator
person designated to start, monitor and stop the intended operation
3.12
task programmer
person designated to prepare the task program (6.1)
3.13
collaboration

operation by purposely designed robots (3.1) and person working within the same space

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ISO/FDIS 8373:2021(E)
3.14
robot cooperation

information and action exchanges between multiple robots (3.1) to ensure that their motions work

effectively together to accomplish the task
3.15
human–robot interaction
HRI

information and action exchanges between human and robot (3.1) to perform a task by means of a user

interface (6.18)
EXAMPLE Exchanges through vocal, visual and tactile means.

Note 1 to entry: Because of possible confusion, it is advisable not to use the abbreviated term “HRI” for human–

robot interface when describing user interface.
3.16
validation

confirmation by examination and provision of objective evidence that the particular requirements for a

specific intended use have been fulfilled

[SOURCE: ISO 9000:2015, 3.8.13, modified — definition modified and notes to entry removed.]

3.17
verification

confirmation by examination and provision of objective evidence that the requirements have been

fulfilled

[SOURCE: ISO 9000:2015, 3.8.12, modified — definition modified and notes to entry removed.]

4 Terms related to mechanical structure
4.1
actuator
robot actuator

power mechanism that converts electrical, hydraulic, pneumatic or any energy to effect motion of the

robot
4.2
robotic arm
arm
primary axes

interconnected set of links (4.7) and powered joints of the manipulator (4.14), between the base (4.9)

and the wrist (4.3)
4.3
robotic wrist
wrist
secondary axes

interconnected set of links (4.7) and powered joints (4.8) of the manipulator (4.14) between the arm (4.2)

and end-effector (4.12) which supports, positions and orients the end­effector
4.4
robotic leg
leg

mechanism of interconnected set of links and joints which is actuated to support and propel the mobile

robot (4.15) by making reciprocating motion and intermittent contact with the travel surface (8.7)

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ISO/FDIS 8373:2021(E)
4.5
configuration

set of all joint (4.8) values that completely determines the shape of the robot (3.1) at any

time
4.6
configuration

arrangement of the modules to achieve the desired functionality of a robot (3.1)

4.7
link
rigid body connected to one or more rigid bodies by joints (4.8)
4.8
joint

mechanical part that connects two rigid bodies and enables constrained relative motion between them

Note 1 to entry: A joint is either active/powered or passive/unpowered.
4.8.1
prismatic joint
sliding joint

assembly between two links (4.7) which enables one to have a linear motion relative to the other

4.8.2
rotary joint
revolute joint

assembly connecting two links (4.7) which enables one to rotate relative to the other about a fixed axis

(5.3)
4.9
base
structure to which the first link (4.7) of the manipulator (4.14) is attached
4.10
base mounting surface

connection surface of the first link of the manipulator (4.14) that is connected to the base (4.9)

4.11
mechanical interface

mounting surface at the end of the manipulator (4.14) to which the end-effector (4.12) is attached

Note 1 to entry: See ISO 9409-1 and ISO 9409-2.
4.12
end-effector

device specifically designed for attachment to the mechanical interface (4.11) to enable the robot (3.1) to

perform its task
EXAMPLE Gripper (4.13), welding gun, spray gun.
4.13
gripper
end-effector (4.12) designed for seizing and holding
4.14
manipulator

mechanism consisting of an arrangement of segments, jointed or sliding relative to one another

Note 1 to entry: A manipulator includes robot actuators.
Note 2 to entry: A manipulator does not include an end-effector (4.12).
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ISO/FDIS 8373:2021(E)

Note 3 to entry: A manipulator typically consists of the arm (4.2) and the wrist (4.3).

4.14.1
rectangular robot
Cartesian robot

manipulator (4.14) which has three prismatic joints (4.8.1), whose axes (5.3) form a Cartesian coordinate

system
EXAMPLE Gantry robot (see Figure A.1)
4.14.2
Cylindrical robot

manipulator (4.14) arm which has at least one rotary joint (4.8.2) and at least one prismatic joint (4.8.1),

whose axes (5.3) form a cylindrical coordinate system
Note 1 to entry: See Figure A.2.
4.14.3
polar robot
spherical robot

manipulator (4.14) arm which has two rotary joints (4.8.2) and one prismatic joint (4.8.1), whose axes

(5.3) form a polar coordinate system
Note 1 to entry: See Figure A.3.
4.14.4
pendular robot
polar robot

manipulator (4.14) whose mechanical structure includes a universal joint pivoting subassembly

Note 1 to entry: See Figure A.4.
4.14.5
articulated robot
manipulator (4.14) which has three or more rotary joints (4.8.2)
Note 1 to entry: See Figure A.5.
4.14.6
SCARA robot

manipulator (4.14) which has two parallel rotary joints (4.8.2) to provide compliance (6.12) in a selected

plane

Note 1 to entry: SCARA is derived from selectively compliant arm for robotic assembly.

4.14.7
parallel robot
parallel link robot

manipulator (4.14) whose arms (4.2) have links (4.7) which form a closed loop structure

EXAMPLE Stewart platform.
4.15
mobile robot
robot (3.1) able to travel under its own control

Note 1 to entry: A mobile robot can be a mobile platform (4.16) with or without manipulators (4.14).

Note 2 to entry: In addition to autonomous operation, a mobile robot can have means to be remotely controlled.

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ISO/FDIS 8373:2021(E)
4.15.1
wheeled robot
mobile robot (4.15) that travels using wheels
Note 1 to entry: See Figure A.6.
4.15.2
legged robot
mobile robot (4.15) that travels using one or more legs (4.4)
Note 1 to entry: See Figure A.7.
4.15.3
biped robot
legged robot (4.15.2) that travels using two legs (4.4)
Note 1 to entry: See Figure A.8.
4.15.4
crawler robot
tracked robot
mobile robot (4.15) that travels on tracks
Note 1 to entry: See Figure A.9.
4.15.5
humanoid robot
robot (3.1) with body, head and limbs, looking and moving like a human
Note 1 to entry: See Figure A.8.
4.16
mobile platform
assembly of the components which enables locomotion

Note 1 to entry: A mobile platform can include a chassis which can be used to support a load (7.2).

Note 2 to entry: A mobile platform can provide the structure by which to affix a manipulator.

Note 3 to entry: Mobile platform following a predetermined path (5.5.4) indicated by markers or external

guidance commands, typically used for logistic tasks in industrial automation is also referred to as Automated

Guided Vehicle (AGV) or Driverless Industrial Truck. Standards for such vehicles are developed by ISO/TC110.

4.17
wearable robot

robot (3.1) that is attached to and carried by the human during use and provides an assistive force for

supplementation or augmentation of personal capabilities
5 Terms related to geometry and kinematics
5.1
forward kinematics

mathematical determination of the relationship between the coordinate systems of two parts of a

mechanical linkage, based on the joint values of this linkage

Note 1 to entry: For a manipulator (4.14), it is usually the relationship between the tool coordinate system (5.11)

and the base coordinate system (5.8) that is determined.
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ISO/FDIS 8373:2021(E)
5.2
inverse kinematics

mathematical determination of the joint values of a mechanical linkage, based on the relationship of the

coordinate systems of two parts of this linkage

Note 1 to entry: For a manipulator (4.14), it is usually the relationship between the tool coordinate system (5.11)

and the base coordinate system (5.8) that is used to determine the joint values.
5.3
axis
direction used to specify the robot (3.1) motion in a linear or rotary mode
Note 1 to entry: “Axis” is also used to mean “robot mechanical joint”.
5.4
degree of freedom
DOF

one of the variables (maximum number of six) required to define the motion of a body in space

Note 1 to entry: Because of possible confusion with axes (5.3), it is advisable not to use the term degree of freedom

to describe the motion of the robot.
5.5
pose
combination of position and orientation in space

Note 1 to entry: Pose for the manipulator (4.14) normally refers to the position and orientation of the end-effector

(4.12) or the mechanical interface (4.11).

Note 2 to entry: Pose for a mobile robot (4.15) can include the set of poses of the mobile platform (4.16) and of any

manipulator attached to the mobile platform, with respect to the world coordinate system (5.7).

5.5.1
command pose
programmed pose
pose (5.5) specified by the task program (6.1)
5.5.2
attained pose
pose (5.5) achieved by the robot (3.1) in response to the command pose (5.5.1)
5.5.3
alignment pose

specified pose (5.5) used to establish a geometrical reference for the robot (3.1)

5.5.4
path
route that connects an ordered set of poses (5.5)
5.6
trajectory
path (5.5.4) in time
5.7
world coordinate system

stationary coordinate system referenced to earth, which is independent of the robot (3.1) motion

5.8
base coordinate system
coordinate system referenced to the base mounting surface (4.10)
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ISO/FDIS 8373:2021(E)
5.9
mechanical interface coordinate system
coordinate system referenced to the mechanical interface (4.11)
5.10
joint coordinate system

coordinate system referenced to the joint axes (5.3), the joint coordinates of which are defined relative

to the preceding joint coordinates or to some other coordinate system
5.11
tool coordinate system
TCS

coordinate system referenced to the tool or to the end-effector (4.12) attached to the mechanical

interface (4.11)
5.12
mobile platform coordinate system

coordinate system referenced to one of the components of a mobile platform (4.16)

Note 1 to entry: A typical mobile platform coordinate system for the
...