ISO/DIS 22166-1

DRAFT INTERNATIONAL STANDARD
ISO/DIS 22166-1
ISO/TC 299 Secretariat: SIS
Voting begins on: Voting terminates on:
2019-10-28 2020-01-20
Robotics — Modularity for service robots —
Part 1:
General requirements
ICS: 25.040.30
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NATIONAL REGULATIONS.
ISO/DIS 22166-1:2019(E)
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ISO 22166-1: DIS balloting
ISO/DIS 22166-1:2019(E)
31 Contents

32 General ................................................................................................................................................................... 10

33 Generic principles of modularity .................................................................................................................. 10

34 4.2.1 General ............................................................................................................................................................. 10

35 4.2.2 Composability ................................................................................................................................................ 10

36 4.2.3 Integrability .................................................................................................................................................... 11

37 4.2.4 Interoperability ............................................................................................................................................ 11

38 4.2.5 Module granularity ...................................................................................................................................... 11

39 4.2.6 Platform independence .............................................................................................................................. 11

40 4.2.7 Openness ......................................................................................................................................................... 11

41 4.2.8 Reusability ...................................................................................................................................................... 11

42 4.2.9 Safety ................................................................................................................................................................. 12

43 4.2.10 Security ............................................................................................................................................................ 12

44 Abstraction layer ................................................................................................................................................ 12

45 Electrical interfaces and communication protocols .............................................................................. 13

46 Conceptual networks ......................................................................................................................................... 14

47 Interchangeability .............................................................................................................................................. 14

48 Self-configuration ............................................................................................................................................... 15

49 Module properties .............................................................................................................................................. 16

50 4.8.1 General ............................................................................................................................................................. 16

51 4.8.2 Module identification .................................................................................................................................. 16

52 Simulation ............................................................................................................................................................. 16

53 Data types for interoperability ................................................................................................................ 17

54 General ................................................................................................................................................................... 18

55 Robot system level safety ................................................................................................................................ 19

56 Module level safety............................................................................................................................................. 20

57 Safety requirements for software ................................................................................................................. 21

58 Safety requirements for hardware ............................................................................................................... 22

59 Example of using modularity in different design approaches for safety ........................................ 22

60 General aspects of security ............................................................................................................................. 22

61 Steps to design security into a module ....................................................................................................... 24

62 Physical security of modules .......................................................................................................................... 25

63 Cyber security of modules ......................................................................................................................... 25

64 General ................................................................................................................................................................... 26

65 Requirements and guidance for hardware aspects of modules ........................................................ 27

66 6.2.1 Mechanical interfaces ................................................................................................................................. 27

67 6.2.2 Power interfaces ........................................................................................................................................... 30

68 6.2.3 Other aspects for module description .................................................................................................. 30

69 General ................................................................................................................................................................... 31

70 Information model ............................................................................................................................................. 32

71 7.2.1 General ............................................................................................................................................................. 32

72 7.2.2 Model for exchange of information among modules ....................................................................... 32

73 7.2.3 Model for access to properties and its access .................................................................................... 33

74 7.2.4 Model for error handling and recovering ............................................................................................ 34

75 7.2.5 Interoperation of software modules ..................................................................................................... 35

76 Architectural model for software modules ............................................................................................... 36

77 7.3.1 General ............................................................................................................................................................. 36

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

78 7.3.2 Requirements for software modules ..................................................................................................... 37

on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address

79 Safety/Security-related requirements for modules with software aspects .................................. 39

80 7.4.1 General ............................................................................................................................................................. 39

81 7.4.2 Interaction with safety/security manager modules ........................................................................ 39

82 General ................................................................................................................................................................... 40

83 Markings or Indications ................................................................................................................................... 40

32 General ................................................................................................................................................................... 10

33 Generic principles of modularity .................................................................................................................. 10

34 4.2.1 General ............................................................................................................................................................. 10

35 4.2.2 Composability ................................................................................................................................................ 10

36 4.2.3 Integrability .................................................................................................................................................... 11

37 4.2.4 Interoperability ............................................................................................................................................ 11

38 4.2.5 Module granularity ...................................................................................................................................... 11

39 4.2.6 Platform independence .............................................................................................................................. 11

40 4.2.7 Openness ......................................................................................................................................................... 11

41 4.2.8 Reusability ...................................................................................................................................................... 11

42 4.2.9 Safety ................................................................................................................................................................. 12

43 4.2.10 Security ............................................................................................................................................................ 12

44 Abstraction layer ................................................................................................................................................ 12

45 Electrical interfaces and communication protocols .............................................................................. 13

46 Conceptual networks ......................................................................................................................................... 14

47 Interchangeability .............................................................................................................................................. 14

48 Self-configuration ............................................................................................................................................... 15

49 Module properties .............................................................................................................................................. 16

50 4.8.1 General ............................................................................................................................................................. 16

51 4.8.2 Module identification .................................................................................................................................. 16

52 Simulation ............................................................................................................................................................. 16

53 Data types for interoperability ................................................................................................................ 17

54 General ................................................................................................................................................................... 18

55 Robot system level safety ................................................................................................................................ 19

56 Module level safety............................................................................................................................................. 20

57 Safety requirements for software ................................................................................................................. 21

58 Safety requirements for hardware ............................................................................................................... 22

59 Example of using modularity in different design approaches for safety ........................................ 22

60 General aspects of security ............................................................................................................................. 22

61 Steps to design security into a module ....................................................................................................... 24

62 Physical security of modules .......................................................................................................................... 25

63 Cyber security of modules ......................................................................................................................... 25

64 General ................................................................................................................................................................... 26

65 Requirements and guidance for hardware aspects of modules ........................................................ 27

66 6.2.1 Mechanical interfaces ................................................................................................................................. 27

67 6.2.2 Power interfaces ........................................................................................................................................... 30

68 6.2.3 Other aspects for module description .................................................................................................. 30

69 General ................................................................................................................................................................... 31

70 Information model ............................................................................................................................................. 32

71 7.2.1 General ............................................................................................................................................................. 32

72 7.2.2 Model for exchange of information among modules ....................................................................... 32

73 7.2.3 Model for access to properties and its access .................................................................................... 33

74 7.2.4 Model for error handling and recovering ............................................................................................ 34

75 7.2.5 Interoperation of software modules ..................................................................................................... 35

76 Architectural model for software modules ............................................................................................... 36

77 7.3.1 General ............................................................................................................................................................. 36

78 7.3.2 Requirements for software modules ..................................................................................................... 37

79 Safety/Security-related requirements for modules with software aspects .................................. 39

80 7.4.1 General ............................................................................................................................................................. 39

81 7.4.2 Interaction with safety/security manager modules ........................................................................ 39

82 General ................................................................................................................................................................... 40

83 Markings or Indications ................................................................................................................................... 40

84 User Manual .......................................................................................................................................................... 41

85 Service Manual ..................................................................................................................................................... 42

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

89 standards bodies (ISO member bodies). The work of preparing International Standards is normally

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

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

92 International organizations, governmental and non-governmental, in liaison with ISO, also take part in

93 the work. ISO collaborates closely with the International Electrotechnical Commission (IEC) on all

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

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

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

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

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

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

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

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

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

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

107 World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT) see the following

111 This International Standard has been developed to cope with the rapidly evolving service robotics

112 sector. At present this robotics market covers many small and niche sectors for which it is difficult to

113 develop the specific and wide-ranging components needed. The market sizes and applications are

114 expected to grow significantly, and the number and range of their functions are also increasing. To

115 enable wide-spread and interoperable development of service robots, a common approach for building

117 On one side, the manufacturer-dependent architectural approaches currently adopted for designing

118 service robots makes design and development difficult and substitution and reuse of modules in

119 upgrading robot products is virtually impossible. On the other side, the research community has

120 developed a vast knowledge base in robot modular design and continues to develop new methods for

121 realising modular approaches, but none have the widespread appeal needed to make significant impact.

122 In these conditions, it is not feasible for the service robotics sector to produce the quality products

123 needed at the prices demanded by the markets and new approaches are urgently needed to help the

125 An international standard on robot modularity and robot component interoperability focusing on main

126 issues of safety, connectivity (from both hardware and software perspectives) and functionality is

127 pivotal to change the service robotics landscape and speed up the development of the new service robot

128 market sectors. The robot modularity issues in this international standard are classified into the issues

129 related to basic and composite modules, basic modules with hardware and/or software aspects.

130 Requirements and guidelines are formulated so that module-based design approaches can be realised

131 allowing application specific service robots and robot systems meeting customer’s requirements to be

132 easily configured. The issues are classified into (a) safety and security, and (b) interoperability

133 guidelines. In addition, the open modular approach realised should enable modules to be easily

134 substituted by other modules having the same interface specifications but perhaps with enhanced

136 Safety requirements specified in existing safety standards (e.g. ISO 13482, ISO 10218-1, ISO 10218-2,

137 ISO TS 15066) shall be applied on the system level as well as on the level of a single module. Security

138 issues are also important when adopting an open modularity approaches and hence have been included

139 in this standard (e.g. to align with emerging IEC TC44 and IEC TC65 security related work projects).

140 The standard contains design and functionality requirements for robot modules to ensure safe and

141 secure operation of such modules and robots built from those modules. It presents design guidelines for

142 building inter-operable robot modules to ensure effective connectivity and correct functionality in line

143 with published standards (e.g. IEC 62443 series). This international standard does not specify the

144 technical implementation of a modular framework. It is intended to provide the necessary guidelines to

145 framework designers, to define a modular framework according to their needs. In view of this, the

151 The safety guidelines at the module level of this International Standard are formulated to ensure

153 Future editions and parts of this family of International Standards are intended to include more specific

154 requirements on particular types of robot modules, e.g., basic and composite modules with hardware

155 and/or software aspects, and for particular types of service robots, e.g., mobile servant robots, physical

156 assistant robots, person carrier robots, and service robots in professional environments.

162 This International Standard presents guidelines on the specification of modular frameworks, on open

163 modular design and on the integration of modules for realising service robots in various environments,

166 • modular service robot framework designers who shall be enabled to specify performant

168 • module manufacturers who are then able to supply end users or robot integrators as customers

169 • integrators who are then able to choose applicable modules for building a modular system

170 This International Standard includes guidelines on how to apply existing safety and security standards

173 This standard does not apply to robots which are not service robots, although the modularity principles

176 The following documents are referred to in the text in such a way that some or all of their content

177 constitutes requirements of this International Standard. For dated references, only the edition cited

178 applies. For undated references, the latest edition of the referenced document (including any

181 ISO 9409-1:2004, Manipulating industrial robots – Mechanical interfaces – Part 1: Plates

182 ISO 9409-2:2002, Manipulating industrial robots – Mechanical interfaces – Part 2: Shafts

183 ISO 10218-1, Robots and robotic devices — Safety requirements for industrial robots— Part 1: Robots

184 ISO 10218-2, Robots and robotic devices — Safety requirements for industrial robots— Part 2: Robot

186 ISO 10303 (all parts), Industrial automation systems and integration — Product data representation

188 ISO 11593:1996, Manipulating industrial robots – Automatic end-effector exchange systems –

190 ISO 12100, Safety of machinery — General principles for design — Risk assessment and risk reduction

191 ISO 13482, Robots and robotic devices — Safety requirements for personal care robots

192 ISO 13849-1, Safety of machinery — Safety-related parts of control systems — Part 1: General

196 IEC 60204-1, Safety of machinery — Electrical equipment of machines — Part 1: General requirements

198 IEC/TR 60601-4.1, Medical electrical equipment – Part 4-1: Guidance and interpretation – Medical

199 electrical equipment and medical electrical systems employing a degree of autonomy