ISO/FDIS 18646-3

Robotics -- Performance criteria and related test methods for service robots

Robotique -- Critères de performance et méthodes d'essai correspondantes pour robots de service

Standards Content (sample)

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
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ISO/FDIS 18646-3:2021(E)
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© ISO 2021

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ii © ISO 2021 – All rights reserved
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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
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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
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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
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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
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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]
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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
...