ISO 18646-3:2021
(Main)Robotics — Performance criteria and related test methods for service robots — Part 3: Manipulation
Robotics — Performance criteria and related test methods for service robots — Part 3: Manipulation
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.
Robotique — Critères de performance et méthodes d'essai correspondantes pour robots de service — Partie 3: Manipulation
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INTERNATIONAL ISO
STANDARD 18646-3
First edition
2021-06
Robotics — Performance criteria
and related test methods for service
robots —
Part 3:
Manipulation
Robotique — Critères de performance et méthodes d'essai
correspondantes pour robots de service —
Partie 3: Manipulation
Reference number
ISO 18646-3:2021(E)
©
ISO 2021
---------------------- Page: 1 ----------------------
ISO 18646-3:2021(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2021
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting
on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address
below or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii © ISO 2021 – All rights reserved
---------------------- Page: 2 ----------------------
ISO 18646-3:2021(E)
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Test conditions . 3
4.1 General . 3
4.2 Operational mode . 3
4.3 Test configuration and trial . 4
5 Grasping characteristics . 4
5.1 General . 4
5.2 Grasp size . 4
5.2.1 Purpose . 4
5.2.2 Test facility . 4
5.2.3 Test procedure . 5
5.2.4 Test result . . 6
5.3 Grasp strength . 6
5.3.1 Purpose . 6
5.3.2 Test facility . 6
5.3.3 Test procedure . 7
5.3.4 Test result . . 8
5.4 Grasp slip resistance . 8
5.4.1 Purpose . 8
5.4.2 Test facility . 8
5.4.3 Test procedure . 9
5.4.4 Test result . . 9
6 Use cases .10
6.1 General .10
6.2 Opening a hinged door .10
6.2.1 Purpose .10
6.2.2 Test facility .10
6.2.3 Test procedure .11
6.2.4 Test result . .11
6.3 Opening a sliding door .11
6.3.1 Purpose .11
6.3.2 Test facility .11
6.3.3 Test procedure .12
6.3.4 Test result . .12
Bibliography .14
© ISO 2021 – All rights reserved iii
---------------------- Page: 3 ----------------------
ISO 18646-3:2021(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 non-governmental, 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.
A list of all parts in the ISO 18646 series can be found on the ISO website.
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.
iv © ISO 2021 – All rights reserved
---------------------- Page: 4 ----------------------
ISO 18646-3:2021(E)
Introduction
This document defines characteristics for the manipulation performance of service robots and
describes how to specify and test them. It is intended that the reader of this document selects which
performance characteristics to test, in accordance with the specific requirements.
The performance criteria specified in this document are not intended to be interpreted as the
verification or validation of safety requirements. The verification and validation of safety requirements
are specified in safety related standards developed by ISO/TC 299.
Tests for position and path accuracy of manipulators, which can be useful in addition to the tests
specified in this document, are provided in ISO 9283.
Tests for locomotion of mobile robots, such as rated speed and stopping characteristics are provided
in ISO 18646-1. Tests for pose accuracy and pose repeatability for mobile robots are also provided in
ISO 18646-2.
© ISO 2021 – All rights reserved v
---------------------- Page: 5 ----------------------
INTERNATIONAL STANDARD ISO 18646-3:2021(E)
Robotics — Performance criteria and related test methods
for service robots —
Part 3:
Manipulation
1 Scope
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.
2 Normative references
The following documents are referred to in the text in such a way that some or all of their content
constitutes requirements of this document. For dated references, only the edition cited applies. For
undated references, the latest edition of the referenced document (including any amendments) applies.
ISO 9379:2005, Operating forces — Test method — Doors
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
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 to perform locomotion, manipulation or
positioning
Note 1 to entry: A robot includes the control system.
EXAMPLE Manipulator, mobile platform, and wearable robot.
© ISO 2021 – All rights reserved 1
---------------------- Page: 6 ----------------------
ISO 18646-3:2021(E)
[SOURCE: ISO 8373:2012, 2.6, modified — The phrase “actuated mechanism programmable in two
or more axes” is replaced with “programmed actuated mechanism”, the phrase “moving within its
environment, to perform intended tasks” is replaced with “to perform locomotion, manipulation or
positioning”, note 1 to entry is modified, note 2 is removed, and EXAMPLES are added]
3.2
service robot
robot that performs useful tasks for humans or equipment excluding industrial automation applications
Note 1 to entry: Industrial automation applications include, but are not limited to, manufacturing, inspection,
packaging, and assembly.
Note 2 to entry: While articulated robots used in production lines are industrial robots, similar articulated robots
used for serving food are service robots.
[SOURCE: ISO 8373:2012, 2.10]
3.3
mobile platform
assembly of all components of the mobile robot which enables locomotion
Note 1 to entry: A mobile platform can include a chassis which can be used to support a load.
Note 2 to entry: Because of possible confusion with the term “base”, it is advisable not to use the term “mobile
base” to describe a mobile platform.
[SOURCE: ISO 8373:2012, 3.18]
3.4
manipulator
mechanism usually consisting of a series of segments, connected to one another by joints, for the
purpose of grasping and/or moving objects usually in several degrees of freedom
Note 1 to entry: A manipulator does not include an end-effector.
[SOURCE: ISO 8373:2012, 2.1, modified — The phrase “machine in which the mechanism usually
consists of” is replaced with “mechanism usually consisting of”, the phrase “jointed or sliding relative
to one another” is replaced with “connected to one another by joints”, the phrase “(pieces or tools)” is
removed, and note 1 is removed]
3.5
end effector
device specifically designed for attachment to the mechanical interface to enable the robot to perform
its task
EXAMPLE Gripper, nut runner, welding gun, spray gun.
[SOURCE: ISO 8373:2012, 3.11]
3.6
gripper
end effector designed for seizing and holding
[SOURCE: ISO 8373:2012, 3.14]
3.7
palm
solid member in the basic mechanical structure of a gripper on which the first joints of fingers are fixed
Note 1 to entry: A palm may make direct contact to objects.
[SOURCE: ISO 14539:2000, 4.2.1.2]
2 © ISO 2021 – All rights reserved
---------------------- Page: 7 ----------------------
ISO 18646-3:2021(E)
3.8
normal operating conditions
range of environmental conditions and other parameters within which the robot is expected to perform
as specified by the manufacturer
Note 1 to entry: Environmental conditions include, for example, temperature and humidity.
Note 2 to entry: Other parameters include electrical supply instability, electromagnetic fields, etc.
[SOURCE: ISO 8373:2012, 6.1, modified — The phrase “which can influence robot performance (such
as electrical supply instability, electromagnetic fields) within which the performance of the robot (2,6)
specified by the manufacturer is valid” is replaced with “within which the robot is expected to perform
as specified by the manufacturer”, and note 2 to entry is added]
3.9
autonomous mode
operational mode in which the robot function accomplishes its assigned task without direct human
intervention
[SOURCE: ISO 13482:2014, 3.24.2, modified — The word “mission” is replaced with “task” and the
EXAMPLE has been removed.]
3.10
test configuration
particular arrangement of test objects
3.11
trial
single instance of test procedure performed under identical test configuration
Note 1 to entry: A trial can be repeated multiple times.
4 Test conditions
4.1 General
The service robot, hereafter referred to as robot, shall be completely assembled, configured with
a mobile platform, if applicable, a manipulator and a gripper, sufficiently charged and operational. If
there are any diagnostic tests that have to be performed before the normal operation, they shall be
satisfactorily completed. Appropriate precautions should be taken to protect the personnel during the
test. The tests shall be preceded by the preparations for operation as specified by the manufacturer.
All performance shall be measured under normal operating conditions and these conditions shall be
included in the test report.
All sensors used in the test specified in this document shall be calibrated prior to performing any tests.
The robot may use any sensors and recognition means to identify the object for each test, as long as
they are reported in the test report.
All conditions specified in this clause should be satisfied for the tests described in this document, unless
it is stated otherwise in the specific subclauses.
4.2 Operational mode
Each test described in this document shall be carried out in the autonomous mode of the service robot.
© ISO 2021 – All rights reserved 3
---------------------- Page: 8 ----------------------
ISO 18646-3:2021(E)
4.3 Test configuration and trial
Each test described i
...
FINAL
INTERNATIONAL ISO/FDIS
DRAFT
STANDARD 18646-3
ISO/TC 299
Robotics — Performance criteria
Secretariat: SIS
and related test methods for service
Voting begins on:
2021-03-08 robots —
Voting terminates on:
Part 3:
2021-05-03
Manipulation
Robotique — Critères de performance et méthodes d'essai
correspondantes pour robots de service —
Partie 3: Manipulation
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 18646-3:2021(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
---------------------- Page: 1 ----------------------
ISO/FDIS 18646-3:2021(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2021
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting
on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address
below or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii © ISO 2021 – All rights reserved
---------------------- Page: 2 ----------------------
ISO/FDIS 18646-3:2021(E)
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Test conditions . 3
4.1 General . 3
4.2 Operational mode . 3
4.3 Test configuration and trial . 4
5 Grasping characteristics . 4
5.1 General . 4
5.2 Grasp size . 4
5.2.1 Purpose . 4
5.2.2 Test facility . 4
5.2.3 Test procedure . 5
5.2.4 Test result . . 6
5.3 Grasp strength . 6
5.3.1 Purpose . 6
5.3.2 Test facility . 6
5.3.3 Test procedure . 7
5.3.4 Test result . . 8
5.4 Grasp slip resistance . 8
5.4.1 Purpose . 8
5.4.2 Test facility . 8
5.4.3 Test procedure . 9
5.4.4 Test result . . 9
6 Use cases .10
6.1 General .10
6.2 Opening a hinged door .10
6.2.1 Purpose .10
6.2.2 Test facility .10
6.2.3 Test procedure .11
6.2.4 Test result . .11
6.3 Opening a sliding door .11
6.3.1 Purpose .11
6.3.2 Test facility .11
6.3.3 Test procedure .12
6.3.4 Test result . .12
Bibliography .14
© ISO 2021 – All rights reserved iii
---------------------- Page: 3 ----------------------
ISO/FDIS 18646-3:2021(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 non-governmental, 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.
A list of all parts in the ISO 18646 series can be found on the ISO website.
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.
iv © ISO 2021 – All rights reserved
---------------------- Page: 4 ----------------------
ISO/FDIS 18646-3:2021(E)
Introduction
This document defines characteristics for the manipulation performance of service robots and
describes how to specify and test them. It is intended that the reader of this document selects which
performance characteristics to test, in accordance with the specific requirements.
The performance criteria specified in this document are not intended to be interpreted as the
verification or validation of safety requirements. The verification and validation of safety requirements
are specified in safety related standards developed by ISO/TC 299.
Tests for position and path accuracy of manipulators, which can be useful in addition to the tests
specified in this document, are provided in ISO 9283.
Tests for locomotion of mobile robots, such as rated speed and stopping characteristics are provided
in ISO 18646-1. Tests for pose accuracy and pose repeatability for mobile robots are also provided in
ISO 18646-2.
© ISO 2021 – All rights reserved v
---------------------- Page: 5 ----------------------
FINAL DRAFT INTERNATIONAL STANDARD ISO/FDIS 18646-3:2021(E)
Robotics — Performance criteria and related test methods
for service robots —
Part 3:
Manipulation
1 Scope
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 also can be
applicable for robots operating in outdoor environments.
This document is not applicable for the verification or validation of safety requirements.
2 Normative references
The following documents are referred to in the text in such a way that some or all of their content
constitutes requirements of this document. For dated references, only the edition cited applies. For
undated references, the latest edition of the referenced document (including any amendments) applies.
ISO 9379:2005, Operating forces — Test method — Doors
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
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 to perform locomotion, manipulation or
positioning
Note 1 to entry: A robot includes the control system.
EXAMPLE Manipulator, mobile platform, and wearable robot.
© ISO 2021 – All rights reserved 1
---------------------- Page: 6 ----------------------
ISO/FDIS 18646-3:2021(E)
[SOURCE: ISO 8373:2012, 2.6, modified — The phrase “actuated mechanism programmable in two
or more axes” is replaced with “programmed actuated mechanism”, the phrase “moving within its
environment, to perform intended tasks” is replaced with “to perform locomotion, manipulation or
positioning”, note 1 to entry is modified, note 2 is removed, and EXAMPLES are added]
3.2
service robot
robot that performs useful tasks for humans or equipment excluding industrial automation applications
Note 1 to entry: Industrial automation applications include, but are not limited to, manufacturing, inspection,
packaging, and assembly.
Note 2 to entry: While articulated robots used in production lines are industrial robots, similar articulated robots
used for serving food are service robots.
[SOURCE: ISO 8373:2012, 2.10]
3.3
mobile platform
assembly of all components of the mobile robot which enables locomotion
Note 1 to entry: A mobile platform can include a chassis which can be used to support a load.
Note 2 to entry: Because of possible confusion with the term “base”, it is advisable not to use the term “mobile
base” to describe a mobile platform.
[SOURCE: ISO 8373:2012, 3.18]
3.4
manipulator
mechanism usually consisting of a series of segments, connected to one another by joints, for the
purpose of grasping and/or moving objects usually in several degrees of freedom
Note 1 to entry: A manipulator does not include an end-effector.
[SOURCE: ISO 8373:2012, 2.1, modified — The phrase “machine in which the mechanism usually
consists of” is replaced with “mechanism usually consisting of”, the phrase “jointed or sliding relative
to one another” is replaced with “connected to one another by joints”, the phrase “(pieces or tools)” is
removed, and note 1 is removed]
3.5
end effector
device specifically designed for attachment to the mechanical interface to enable the robot to perform
its task
EXAMPLE Gripper, nut runner, welding gun, spray gun.
[SOURCE: ISO 8373:2012, 3.11]
3.6
gripper
end effector designed for seizing and holding
[SOURCE: ISO 8373:2012, 3.14]
3.7
palm
solid member in the basic mechanical structure of a gripper on which the first joints of fingers are fixed
Note 1 to entry: A palm may make direct contact to objects.
[SOURCE: ISO 14539:2000, 4.2.1.2]
2 © ISO 2021 – All rights reserved
---------------------- Page: 7 ----------------------
ISO/FDIS 18646-3:2021(E)
3.8
normal operating conditions
range of environmental conditions and other parameters within which the robot is expected to perform
as specified by the manufacturer
Note 1 to entry: Environmental conditions include, for example, temperature and humidity.
Note 2 to entry: Other parameters include electrical supply instability, electromagnetic fields, etc.
[SOURCE: ISO 8373:2012, 6.1, modified — The phrase “which can influence robot performance (such
as electrical supply instability, electromagnetic fields) within which the performance of the robot (2,6)
specified by the manufacturer is valid” is replaced with “within which the robot is expected to perform
as specified by the manufacturer”, and note 2 to entry is added]
3.9
autonomous mode
operational mode in which the robot function accomplishes its assigned task without direct human
intervention
[SOURCE: ISO 13482:2014, 3.24.2, modified — The word “mission” is replaced with “task” and the
EXAMPLE has been removed.]
3.10
test configuration
particular arrangement of test objects
3.11
trial
single instance of test procedure performed under identical test configuration
Note 1 to entry: Trial can be repeated multiple times.
4 Test conditions
4.1 General
The service robot, hereafter referred to as robot, shall be completely assembled, configured with
a mobile platform, if applicable, a manipulator and a gripper, sufficiently charged and operational. If
there are any diagnostic tests that have to be performed before the normal operation, they shall be
satisfactorily completed. Appropriate precautions should be taken to protect the personnel during the
test. The tests shall be preceded by the preparations for operation as specified by the manufacturer.
All performance shall be measured under normal operating conditions and these conditions shall be
included in the test report.
All sensors used in the test specified in this document shall be calibrated prior to performing any tests.
The robot may use any sensors and recognition means to identify the object for each test, as long as
they are reported in the test report.
All conditions specified in this clause should be satisfied for the tests described in this document, unless
it is stated otherwise in the specific subclauses.
4.2 Operational mode
Each test
...
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