ISO 18646-2:2019 pdf free download.Robotics – Performance criteria and related test methods for service robots Part 2 Navigation.
Introduction
ISO 18646-2 is intended to specify performance criteria and test method for navigation of mobile service robots. It defines performance characteristics, describes how they are specified and recommends how to test them.
The characteristics for which test methods are given in ISO 18646-2 are those considered to affect robot performance significantly. it is intended that the reader of this document selects which performance characteristics are to be tested, in accordance with the specific requirements.
The performance criteria specified in ISO 18646-2 are not intended to be interpreted as the verification or validation of safety requirements.
1 Scope
ISO 18646-2 describes methods of specifying and evaluating the navigation performance of mobile service robots. Navigation performance in this document is measured by pose accuracy and repeatability, as well as the ability to detect and avoid obstacles. Other measures of navigation performance arc available but are not covered in this document.
The criteria and related test methods are applicable only to mobile platforms that are in contact with the travel surface. For evaluating the characteristics of manipulators, ISO 9283 applies.
ISO 18646-2 deals with indoor environments only. However, the depicted tests can also be applicable for robots operating in outdoor environments, as described in Annex A.
ISO 18646-2 is not applicable for the verification or validation of safety requirements. It does not deal with safety requirements for test personnel during testing.
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 7 176-13, Wheelchairs — Part 13: Determination of coefficient offriction of test surfaces ISO 8373:2012, Robots and robotic devices — Vocabulary
3.2
mobile robot
robot (11) able to travel under Its own control
Note Ito entry: to entry A mobile robot can be a mobtkp!caforne (3.3) with or without manipulators.
(5011 RCE: ISO 8373:2012.2.131
3.3
mobile platform
assembly oF all components o(the mobile robot (32) which enables locomotion
Note Ito entry: A mobile platform can include a chassis which can bc used to support a load (16). Note 2 to entry: Because of possible confusion with the term base, It Is advisable not to use the terni ‘mobile bass’ to describe a mobile platform
(SOURCE: ISO 8373:2012.3181
3.4
service robot
robot (1.1) that performs usciul tasks For humans or equipment excluding Industrial automation applications
Note I 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 toad are service robots.
(SOURCE: ISO 8373:2012.2.101
3.5
navIgatIon
deciding on and controlling the direction otiravel. derived from localization and the environment map
Note ito entry: Navigation can include path (3.14) planning for posc-to.posc travel and complete area coverage.
ISOURCE: ISO 8373:201 2, 7.61
3.6
load
force and/or torque at the mechanical Interface or nwbile platform (13) which can be exerted along the various directions of motion under specified conditions olvelocity and acceleration
Note Ito entry: The load isa function of mass, moment of inertIa, and static and dynamic forces supported by the robot (3d).
(SOURCE: ISO 8373:2012,6.2.11
3.7
rated load
maximum bud (3,) that can be applied to the mechanical interface or mobile platform (3.3) In normal operating conditions (3.9) without degradation or any pertorma flee specification
Note Ito cntry The rated load Includes the inertial effects of the end eftector. accessories and workplece, where app&abk.
(SOURCE: ISO 8373:2012.6.2.2)
3.8
rated speed
maximum speed of mobile platlorm (3.3) equipped with rated load (3.7) in normal operating conditions (3.9)
ISOLJRCE: ISO 1H6461:2016, 3,111
3.9
normal operating conditloiis
range alenvironmental conditions and other parameters which can Influence robot performance (such as electrical supply instability, electromagnetic fields) within which the performance of the robot (3.1) specified by the manufacturer is valid
Note Ito entry; InviranmcntaI conditions Icludc, for example, temperature and humidity.
ISOURCE: ISO 8373:2012,6,11
3.10
task program
set of instructions for motion and auxiliary functions that define the specific intended task of the robot (3.1) or robot system
Note 1 lo entry Thit type aI program is usually gener.itcd alter the installation of the robot and c-an be modified by a trained person under defined renditions.
Note 2 to entry: An application ia general area of work, a task Is specific within the application.
ISOURCE: ISO 8373:2012, 5.1.1)
3.11
pose
combination of position and orientation in space
Note ito entry: Pose for the manipulator normally refers to the position and onent.aoon of the end effeclor or the mechanical interface.
Note 2 to entry; Pose for a mobde robot (3.2) can Include the set of poses of the mobile platform (1.3) and of any manipulator attached to the mobile platform, with respect to the world coordinate system.
Note 3 to entry: For mobile robots In contact with a flat surlace. orientation is typically a scalar angle about the normal to the list surface, with respect to a reference direction.
ISOLJRCF.: ISO 8373:2012,4.5, modified —Note 3 to entry has been added.I
3.12
command pose
programmed pose
pose (3.1.1) specIfied by the task program (3.1.0)
IS0LJRCF; ISO 8373:2012,4.5.11
3.13
attained pose
pose (3.11) achIeved by the robot (3.1) in response to hit’ command pose (3.12)
ISOLJRCE: ISO 8373:2012, 4.5.21
3.14
path
ordered set of poses (3.11)
ISOURCE: ISO 8373:2012, 4.5.4)
4 Test conditions
4.1 General
The robot shall be completely assembled, fully charged and operational, based on the manufacturer specification. All self-diagnostic tests 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. These preparations shall hr reported In the test report.
All conditions specified In Clause 4 should be satisfied for the tests described In this document, unless It Is stated otherwise In the specific clauses.
Each test described in each clause of this document can have different test configurations which require separate test procedures. For each test configuration, multiple trials should be conducted if specified in the test procedure.
4,2 EnvIronmental conditions
The following typical Indoor environmental conditions should be maintained during all tests:
— ambient temperature: 10°C to 30 °C;
— relative humidity: 0% to 80%:
— illumination: 100 lux to 1 000 lux.
The environmental conditions shall be declared in the test report. The manufacturer may specify environmental conditions outside these ranges (see Annex.A).
NOTE Even though reflectivity can effect performance, It i not Included in these environmental conditions.
4.3 Travel surface conditions
A hard, even and horizontal travel surface with a coefficient of friction between 0.6 and 1,0, measured In accordance with ISO 7176.13, shall be used.