Professional Documents
Culture Documents
International Standards
ENR506: Robotics: Session
2. ISO 9283: 1998 3. ISO 9787: 2013, & 4. ISO 9946: 1999
ISO 9787:2013
‘Manipulating Industrial Robots’, priced around US$ 180.
‘Robot and robotic devices: coordinate systems and motion nomenclatures’
This standard is intended to facilitate understanding between users and
Priced around US$ 60, This standard defines and specifies robot coordinate system.
manufacturers of robots and robot systems.
It provides nomenclature for basic robot motions.
• Defines important performance characteristics, describes how they shall be
It is intended to aid in robot alignment, testing and programming.
specified, and recommends how they should be tested.
ISO 9946:1999
• Selected performance characteristics:
‘Manipulating industrial robots: presentation of characteristics’
• Distance accuracy and distance repeatability, position overshoot, path
Priced around US$ 90, This standard assists users and manufacturers in the
accuracy and path repeatability, path velocity characteristics, multi-
understanding and comparison of various types of robots.
directional pose accuracy variation, and minimum posing time.
It specifies how characteristics of robots shall be presented by the manufacturer.
Source: ISO Source: ISO
5 & 6. ISO 10218- 1 & 2: 2011 7. ISO 11593: 2022, & 8. ISO 13482: 2014
ISO 10218-1:2011 (Robots and robotic devices) Priced around US$ 160 ISO 11593:2022
‘Safety requirements for industrial robots: Part 1: Robots’ ‘Robots for industrial environments: automatic end effector exchange
systems vocabulary’, Priced around US$ 40.
It provides requirements & guidelines for safe design and protective measures.
It describes basic hazards associated with robots and provide means to This standard contains the vocabulary for end-effector exchange systems in
eliminate or reduce the risks associated with the hazards. accordance with ISO 10218-2. It does not provide any development details.
• It does not apply to non-industrial robot. It does not consider noise as a hazard.
ISO 10218-2:2011 (Robots and robotic devices) Priced around US$ 180 ISO 13482:2014 (Robots and robotic devices)
‘Safety requirements for industrial robots: Part 2: Robot systems and integration’ ‘Safety requirements for personal care robots’, Priced around US$ 180.
It provides safety requirements for the integration of the robots and systems and This standards include 1) mobile servant robot, 2) physical assistant robot
robot cells. The integration includes: design, manufacturing, installation, and 3) person carrier robot. It is limited to earthbound robots.
operation, maintenance and decommissioning of robot system; necessary It covers human-robot physical contact applications. It lists significant hazards and
information and device components of industrial robot system. how to deal with them for each personal care robot.
9. ISO 19649: 2017 10 & 11. ISO 20218- 1: 2018 & 2: 2017
ISO 20218-1:2018 (Robotics safety design for industrial robot systems)
‘Mobile Robots Vocabulary’, priced around US$ 40.
This standard defines the terms for mobile platforms and mobile robots based Part 1: End effectors, Priced around US$ 120.
on the definitions in ISO 8373. This provides guidance for end-effectors in robot systems including collaborative
applications. It provides safety measures for design and integration of end-effectors
It defines terms relating to mobile robots that travel on a solid surface and including 1) manufacturing, design, and integration of end-effectors and 2)
that operate in both industrial robot and service robot applications. necessary information for using the end-effectors.
It defines terms used for describing 1) mobility, 2) locomotion and 3) other
topics relating to the navigation of mobile robots. ISO 20218-2:2017 (Robotics safety design for industrial robot systems)
Selected definitions: Part 2: Manual load – unload stations, Priced around US$ 90.
• Mobile robot: “Robot able to travel under its own control” This is applicable to robot systems for manual load-unload applications in which a
• Mobile platform: “Assembly of all components of the mobile robot” hazard zone is safeguarded by preventing access to it.
• Travel surface contact area: “Area of one or more wheels, tracks, or This standards supplements ISO 10218 and provides additional information on
legs in contact with the travel surface” reducing the risk of intrusion into the hazard zones.
Source: ISO Source: ISO
• It distributes electrical
Six axes robotic ASME arm
power to the system
The control pendant = “a physical
device a user can hold in their hand
Source: ASME
to operate robot arm.”
Source: ASME
Source: ASME
Source: ASME
An articulated robot could have 2, or 4, or 6 or any number of joints. The multi-bar design is sometimes
used between joints 2 and 3, or
• A large payload usually means a large design of robot. joints 3 and 4.
Robot manufacturers continue to optimize the parameters with various This design will provide following
designs: 1) number of axes, 2) individual joint range, 3) speed, 4) overall mechanical advantages:
reach, 5) robot size and weight, 6) cost, 7) energy efficiency, 8) maintenance, 1) Higher payload capabilities,
and 9) payload. 2) The use of a smaller drive
motor for the robot joint.
We will see following robot designs:
1) Multi-bar linkages, 2) Counterweights, 3) Counterbalance cylinders, A prototype by researchers is
4) Remote mounted motors, and 5) Locally mounted motors shown here on right.
Source: Gomez Espinosa et al , 2014
Counterweights & Counter balanced cylinders Remote & Locally Mounted Motors
Counterweights: Remote mounted motors:
Some robots have built-in counter weights. Sometimes it’s visually obvious because Motors mounted away from the driving joint.
they are implemented as large block of 1) solid steel, or 2) spring (inside).
This counterweights assist joint 2 of an articulated robot in Commonly, the drive motors for joints 4, 5,
1) balancing the weight of the subsequent joints such as joints 3 to 6, and & 6 all physically mounted around joint 3.
2) reduce the torque required by one of the motors.
The processor monitors the motor Safety controller: Connection of robot system
position encoder readings, temperature, with an existing emergency stop tied with other
force, and any other internal robot sensors. manufacturing equipment. It has connections for
motion stop inputs.
The processor runs the program wherein it
needs to react based on the inputs, sensor Emergency stop (E-stop) circuit:
values and the written programs. It provides a safe and quick power disconnection.