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1. 72. peuDisse eq oj GUMEHGCIS8002 Q M AU uo ejeq Jeusnpul OU py dnouo Buom pior OSI SSIIIUUB pue seniedoud jonpoJd LOMf 23I OSI Aey oueJo UOB9J1nO 9 uoneonp3 uo 99 1IUUUUOO q 5S O3D WSN JelleJy AN AoueDy soueueluleIN OOU pv MN uoseA JA USUuJ95BuBI SDUBU Mn Bury ag WSN IpueJg JWA AlenO WSN uosueg JA G9OS O un uoneJ6eju ejeq IeJsnpul CLOWVLOS 9g11IUJUJO AlllBnO ulejs g OJJuOO 9sudJeJu
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4. CH BAA R4 vc dct AE Brian IDES YEBICHRITS IO LIM ACH SOOO REL
5. I SO L C IS010218 1 ISO DIS10218 2 1 3
6. 1 E 238888 U
7. FIRE lt i ARE Bay h T gt wo t RA FH X
8. 3 Mobile servant robots with without manipulator Physical HT assistance robots rehabilitation is out of scope People carrier robots T WG7 Part 2 Medical care robots DICOM amp IEC CARS 2009 CARS 2009 DICOM IS0 SC2 WG7 6 robot SE E WG7 medical care robots 2
9. 2 4 4 I E
10. 10 D BUA 1 2 3 12
11. Hf N 3 3 3 IS0 TC184 SC2 PT1 ISO 10218 1 2008 10 13 9 30 17 00 2008 10 14 A K 8 30 18 00 2008 10 15 A GK 8 30 15 00 2 COEX World Trade Center Samseong dong Gangnam gu Seoul 135 731 Korea 3 314 EE Jeff Fryman Robotic Industries Associations Xn Roberta Nelson Shea Pilz Automation Safety L P David Felinski Association for Manufacturing Technology AMT Michael Gerstenberger KUKA Robotics Mike Calardo ABB Inc R Todd Dickey Honda Engineering North America Inc Mike Douglas General Motors Corporation Gilbert Dominguez Pilz Automation Safety L P Dave Smith Honda Of Canada Mfg Jason Hill The Hill Engineering Group Inc Jim Van Kessel JVK Industrial Automation Inc E Stefan Sagert VDMA Josef Leibinger KUKA Roboter GmbH Richard Schwarz KUKA Roboter GmbH Kevin Behnisch ABB Automation GmbH Ulrich Goller
12. OB m N Br FE 3 ES BAAS N E rd SE K j j HET
13. 3 4 VW 5 EM dX UAZUTERARAYEORBEROSNEUJIfS
14. 1 Scope gt Mr Jeff Fryman Robotic Industries Associations Mr Michael Gerstenberger KUKA Robotics Mr Claude Dinsmoor FANUC Robotics America Inc Mr Troy Uahinui Toyota Motor Eng amp Manufacturing North America Inc Mr R Todd Dickey Honda Engineering North America Inc F4 gt Mr Kevin Behnisch ABB Automation GmbH Mr Bernhard Kramer Daimler AG CEN Dr Matthias Umbreit Berufsgenossenschaft Metall Nord S d Sum T Ly 25 lt 5 4 31 Means for limiting motion opa EE gt Mr Michael Gerstenberger KUKA Robotics Mr Kevin Behnisch ABB Automation GmbH H W 5 10 Safeguarding gt
15. 3 5 6 1 1 E 5
16. 1 IS0 TC184 SC2 PT2
17. 5 2 1 Power transmission components gt fixing system Ls 5 2 2 Power loss or change gt 5 5 3 Protective stop gt H E Protective stop IEC60204 1 2005 0 1 TEC61800 5 2 2007 Adjustable speed electrical power drive
18. KEHL 6 Annex SC2
19. As A i N 3 4 ji iv 5 HX SF
20. Scope Scope ER TIS0 DIS10218 2 DIS gt This International Standard specifies safety requirements for both t
21. l kzl bec e Dp UN Uy ali 180 10218 IS0 H ANE HH
22. x A 1 HH SEE
23. 3 3 13 1S0 TC184 SC2 AG1 1 2009 2 24 H CK 9 00 12 30 2 Shades of Green Orlando Florida USA 3 15 Seungbin Moon H Soon Geu Lee Sungsoo Rhim Gurvinder S Virk UK I Osman Tokhi UK AA Jae Kyoung Joo Jun Young Sung Seung Ik Lee HFA Bae AA Michel Parent Bryan Bridge 4 WG8 ISO SC2 SC5 WG6 Dr Robert Patzke LT 0RiN gt ISO 20242 4 ANNEX
24. 2 H Bto B Business to Business 2 3 1
25. PT2 non invasive PC personal care robots NWIP Part2 invasive PC personal care robots 4 Directives machinery directives invasive PC personal care robots PT2 3 3 7 ISO TC184 SC2 PT2 Robots in personal care 1 2009 2 24 H K 27 H 2 Shades of Green Orlando Florida USA 3 15 Gurvinder S Virk Osman Tokhi Bryan Bridge Jae Kyoung Joo Ft Ww Seungbin Moon Sungsoo Rhim Michel Parent
26. 3 3 4 5
27. J E J oS E THEW 2 1H fd cbe Ed D TORANA
28. umi 1 N ud RAT 2 Bm o4 ERI D ELA 23 12 EU
29. H 2 1 3 ARF H CDM
30. 5 11 Collaborative robots gt Hand guided robot Hand guided robot 2 2008 10 TS0 TC184 SC2 Plenary SC2 DIS 2009 5 11 5 15 CEN CEN CEN DIN AM
31. IDEC FANUC 5 8 2 Safeguarding requirements for maintenance 169 lt gt IS0 TC184 SC2 Robots and robotic devices Robots for industrial environments Safety requirements Part2 Robot system and integration
32. NE C B AZ MZ E
33. E CREAT OV AZ Sf LI J B Wye Co
34. IS0 3 2 1 3 2 1 ISO Manipulating industrial robots 20 Performance criteria and related 12 H 15 H test methods Systematic review of ISO 9283 IS0 TC184 SC2 ISO DIS 10218 2 20 fip N560 Robots for industrial 12 17 environments Safety requirements Part 2 Robot system and integration IS0 TC184 SC2 Robots and robotic devices 21 N580 Safety requirements 2 18 Non medical personal care robot New Work Item Proposal IS0 TC184 SC2 ISO CD 10218 1 21 ER N581 Robots and robotic devices 3 7 Safety requirements Part 1 Industrial robot 3 3 ISO 3 3 1 IS0 TC184 8C2 1 2008 10 16 9 30 17 00 20084210 H 17 H 4 9 30 15 00 2 COEX Conference Center Samseong dong Gangnam gu Seoul 135 731 Korea 3 314 Tomas Angelhag ABB AB chairman Mattias Lafvas SIS secretary David Smith Honda of Canada Mfg James Van Kessel JVK Indus
35. 4 H A i Ay f ER SER PA 2 3 Qr 2 2 4
36. 2008 EE PED HH AIST 6 eo CARS 2008 WG7 HE ZH Ue o rH G WG7 Part 1 non medical personal care T medical care robot amp Part 2 ER CARS 2009
37. Part2 3 3 2 Y ISO 10218 1 2006 industrial robot system comprising Robot End effector s Any equipment devices or sensors required for the robot to perform its task x robot 3 1 2 ROBOT Cell ROBOT Parti H ROBOT Pass i B
38. H A 35 i 4 5 A nds H J 8
39. WG7 WG7 7 WT WG1 WD Vocabulary Or1ando 20090223 doc Medical robots Medical care robots Healthcare robots 9 People carrier robots service robots that transport people OK Rehabilitation robots Service robots 2 Robotic devices 9 5 15 WG7 UK 5 22
40. 13 2 3 g vti f ARS COE ipd 5c LD 1 GE gt 21 3 11
41. 10 1 6 ISO 477 ISO WG TSO 42 ISO
42. BU CE EU ISO EU CEN Annex I 1 7 3 Marking of Machinery ful11 address
43. 1 EY B His N j gt E 23
44. PT2 AT SC5 SC2 AGI ISO TC184 SC5 WG6 AGL 2 48 ETRI Hyun Kim Annex 22 49 ICRA IROS CLAWAR OL 50 SC2 JWG IS0 TC184 SC5 51 2008 10 16 17
45. 2 4 1 General Classification Safety 2 Mechanical Structure 3 Geometry and Kinematics UK 4 Programming and Control UK 5 Performance 6 Autonomy Intelligence Manipulation Mobility HRI 2 5 PT1 PT2 PT3 PTI PT2 RE es 2 6 SC2 IS PT3 3 1 General terms
46. AM A B to B 3 ISO TS0 TC184 SC2
47. 8 5 1 2 3 4 b 7 NA 8 9 10 9
48. R NWIP DIS 2009 SC2 AHS CORRE internal SC 2 ballot FDIS 2009 2006 6 SC2 SC2 SC2 SC2
49. 80W B Part1 Partl 80W 80W 80W 5 P Tu DIJ e REDT BI 80W Efi 3 3 4 1 2009 2 22 2 23 2 24 2 25 2 26 2 27 2 Shades o 1950W Magn 3 24 X H
50. TSO 9946 4 2009 6 26 CARS H 2009 11 23 CIREX X 11 25 0 728 12 4
51. UK 5 5 6 Operational modes 5 5 6 1 Selection pui Gr S If a robot is equipped with a single operational mode the mode selection is obviously not necessary On the other hand if a robot is equipped with multiple operational modes described below the modes shall be selected by a secure means that only enables the selected mode e g a key operated switch or other means that provide an equivalent security i e supervisory control These means shall a unambiguously indicate the selected operating mode and b by themselves not initiate robot motion or other hazards An optional output s may b
52. gt UK 5 Design requirement and protective measures 5 gt ET 10218 1 gt 5 3 2 Power loss or change gt 5 3 3 Component malfunction gt 5 3 4 Sources of energy gt 5 3 5 Stored energy gt 5 3 9 Safety related control system performance 5 3 10 Robot stopping functions gt 5 3 11 Speed and force control of manipulator gt 5 3 19 Movement without drive power gt 5 3 20 Provisions for lifting gt 5 3 21 Electrical connectors
53. Heun Chan Park Su Young Chi Seung Ik Lee M Gu Min Jeong Minsoo Ryu W E Young Jo Cho Hyun Kim In cheol Jeong Chris Harper UK CHAR AA Mattias Lafvas Sweden 4 1 2 3 4 WG 5 6 7 5 44 SC4 SC 10 ETRI Electronics and Telecommunications Research Institute Su Young Chi FEE TC184 SC5 Annex 20 45 OMG ETRI Su Young Chi OMG Annex 21 46 IS0 9283 AG1 IS0 9283
54. bel 7 WE JZD ISO HARZEE WG WGT SEH 7 WG7 non medical personal care robots WG7 CARS 2009 non medical WG7 medica ISO BGO EB NB o l care robots WGT pe
55. ISO ISO i 2 2 1 2 1 1 k 4
56. oo E ROM EM VON E nj E N E Ay 4 Ee uad pod Ro dd a AR 0D Tz o 00 gi d FERRO SEC ee 2 1 2 1
57. L AG1 Project leader Jeff 42 RoSta RoSta Rodolphe Gelin AG 43 XE 2008 10 H 13 A 2009 2 23 A Oil XE NIST act AE m 3 3 12 IS0 TC184 SC2 A61 1 2008 10 H 13 A 9 00 12 30 2 COEX Conference Center Samseong dong Gangnam gu Seoul 135 731 Korea 3 19 Seungbin Moon Soon Geul Lee Sungsoo Rhim Kwang Ho Park 0sman Tokhi UK
58. 20 4 seeseeerrurr erreen rereana 67 69 1 1 1 EL UL PRT Lr bo
59. PT Project Team PT 18 TS0 10218 1 2 2 2003 10 5 PT 2 2 2004 1 6 2 2004 10 8 PT IS0 10218 ISO 10218 ISO0 10218 2 ISO 10218 1 Robots a
60. 1S0 10218 TIS0 14121 1 gt m EE gt
61. 4 mi JIS B 9702 5 6
62. BL 354 11 3 E H Ad H MEX REA FO d 2R KH MZ JAE 1
63. 1 1 4 7 uli a l gt he x Zs kb LE gt 9 f lt G F 7
64. PT1 RRL PT3 Kuka Michael Gerstenberger PT3 PTI PT3 PT3 PT3 PT3 ppt Matthias Lafvas Alain Bezos UNM ZOR ISO ISO ISO
65. SC2 TC184 SC5 WG6 RAPI 18 10 SC5 WG6 RAPI ORiN SC5 WG6 1S020242 4 RAPI Annex ORIN TC184 SC5 WG6 M TSO 20242 4 Annex C Device capability profile templates for robot applications 3 2
66. SC2 D 700 3 1908373 7 SC2 Explanation doc StandardTerms xls 1300 356 JapanHomeWork xls Mobility Manipulation TH Oy Y 4 g Z fifi Human robot Interface JapanMatrix xls 3 https www pt3 cea fr
67. 5 o 1 4 1 2 H id 1
68. Fryman 2 2006 42 EC Partl EU 2006 42 EC CEN Dr Umbreit 2006 42 EC 2006 6 9 2006 6 H 29 H 2008 6 29 EU 2009 12 29 EU lifting accessories e chains ropes and webbing removable mechanical transmission devices partly completed machinery
69. B to B B to B s n E 3 1 ERIC BAT A Ry ix B to C Business to Consumer fb Ua
70. healthcare be PT2 UT healthcare entertainment SC 2 healthcare entertainment personal care personal care robot PT 2 9 PT2 Robots in personal care Gurvinder Virk 0sman Tokhi PT2 personal care robots non medical medical care robots SC2 2008 personal care robots non medical NWIP 10 PT3 ISO 8373 m Rodolphe Gelin Chris Harper SC2 Robot industrial robot PT1 ISO0 CD 10218 1 robot industria robot PT3
71. Wd gt 5 3 1 Power transmission components gt 5 3 6 Electromagnetic compatibility EMCO 10218 1 IEC gt gt 5 3 22 Falling 5 3 23 Battery charging gt 5 3 24 Mobility Obstacle avoidance or movement protection gt 5 3 25 Protection against unauthorized use gt 5 3 26 Medical instruments 6 Verification and validation lI 7 7 Information for use UK
72. 5 2008 10 13 H 14 CK 2009 2 23 26 R B 6 6 1 SC2 2 VZ7wWA SC20 UC Oz BOBO 2S E2325 3 Z2wARKTFAVAFBAVSBBROTEXXUCSTI523 gm m A25 4 AARRE IT DE AMEDD SD 5 9 15 6 6 NIST c rn nD Mm 3 3 9 ISO TC184 SC2 PT3 ISO 8373 1 2008 10 H 13 E H 14 00 18 00 14 CX 9 00 12 30 2 COEX Conference Center Samseong dong Gangnam gu Seoul 135 731 Korea 3 1345
73. Ex 2 1H RAF 125CC 50CC 1KW 600W 3
74. nA _ m es D 2 amp F H H Es a i x a
75. om Sse Sie 2 4 ntc 2 1 d E
76. OT d E HH HH DRT un E 2 2
77. 250 mm s 250 mm s tH XE Bi Wel Z x RAE CA OL DIC DPA gui Z if SICK
78. TCP 150N 80W IN 80m s 80W 80W 5 10 6 IB Power and force limiting by control system Power and force limiting by design or control 5 11 Singularity protection 250 mm s
79. Annex 1 1 4 2 1 Fixed guards C IS0 1S0 EU Dr Umbreit KOU EU EU EN ISO IEC
80. 10 17 Alc ISR 2 2 23 A 2H 26 H G gt A Robotics m s DAB E EN aip HD AH SICK 250 Seoul FDIS IS0 TC184 SC2 008 The 39th A 2 20 Ec Partl CD 5 6 1 SRO Part Partl
81. Annex A WG 7 6 WG7 3 SIL PL 5 3 12 SC2 SC2 1 EEO This part of ISO xxxx standard does not apply to entertainment applications although the safety principles established may be utilized for these 3
82. 1508373 IS0 TC184 SC2 PT3 2007 11 IS0 8373 CHS LOA ISO 10218 SC2 E gt L 4 700 1 l AGL
83. 4 zp FO 3 medical care robots Nia applications gt personal care robotic devices WG 1 WG 7 gt personal care robotic devices 3 7 7
84. IS010218 3 1 IS0 TC184 SC2 1 SC2 1984 5 H 22 ISO 10 TR4 5 WG 6 WG 2000 5 11 12 12 SC2 WG PT Project Team SC2 ISO 10218 1992 2002 1 15 1999 6 ANSI RIA 15 06
85. 4 LN 1 1
86. H AS CHAR Seung Ik Lee Jun Young Sung Minsoo Ryu A 1 2008 10 2 NWI WD 2009 2 18 Accepted 2012 03 01 36 gt 090 11 AK CD gt 10 5H 5 CD BEER v E amp 388188 gt 10 5 AK DIS gt 10 11 DIS DIS 5 gt 10 10 A 11 2 DIS gt CU100253 FDIS gt 11 5 FDIS FDIS 3 gt ISO NWI 8 Japan France Hungary UK S Korea Germany USA Canada 3 Part1 healthcare gt VWG
87. Multiple enabling devices associated with a single robot control shall have the same functionality Enabling devices may be integrated to have the same span of control of multiple robots with overlapping restricted spaces where the robots have the capability of concurrent movement 5 4 3 Means for limiting motion gt 14 4 5 4 3 1 General 5 4 3 2 Mechanical Limiting Devices 5 4 3 3 Non mechanical Limiting Devices 5 4 3 4 Safety rated soft axis and space limiting Mecha
88. 2008 06 26 Geometry Kinematics doc pose configuration space body centre 3 5 Mobility 2008_06_26_Mobi1ity xls 3 6 Manipulation 2008_06_26_Manipulation xls 3 7 Programming and Control 2008 06 26 Programming Control doc 3 8 Perception and sensing 2008 06 26 Perception sensing doc 3 9 Autonomy and Learning PT3 3 10 Safety 2008 06 26 Safety doc foolproof risk benefit 1S0 10218 3 11 Performances PT3 3 12 Human robot interaction 2008 06 26 Human Robot doc Human robot interaction 4 PT3 2008 10 PT3
89. 6 2009 2 24H CK 25 k 2009 5 3 3 10 1 2009 2 23 2 Elk ISO 7 1 2 4 IS0 TC184 SC2 PT3 ISO 8373 9 00 18 00 Shades of Green Orlando Florida USA 3 E E 4 2 1445 Seungbin Moon Jae Kyoung Joo Gurvinder S Virk X Osman Tokhi Glyn Garside Seung Ik Lee Jun Young Sung Minsoo Ryu Michel Parent AA Stephan Sagart Bryan Bridge al 1 3 EH Ba Zo Robot Industrial robo t Manufacturing Leb lt
90. WG7 JARA 76 12 WG7 6 15 WG7 JARA 3 3 8 1ISO TC184 SC2 PT3 ISO 8373 1 2008 6 25 H K 14 00 18 00 6 H 26 R xk 9 00 12 30 2 6 H 25 Institut de Robotica i Informatica Industrial Llorens i Artigas 4 6 Barcelona SPAIN 6 H 26 Hospital Centro Medico Teknon C Vilana 12 Barcelona SPAIN 3 17 Rodolphe Gelin Hun Chan Park Jae Kyoung Joo Gurvinder S Virk Chris Harper FA AA Seungbin Moon Kwang Ho Park Gu Min Jeong Seok Cheol Kee Sungsoo Rhim Geff Fryman Abdul K M Azad Alain Bezos H 4 1 2 Bernd Kuhlenk tter ABB 2 PT1 R Gelin G S Virk 6 16 18
91. FDIS 2009 10 12 IS 2010 1 ISO 10218 1 ISO 10218 1 SC2 2008 11 303 CD 2008 12 7 2009 3 7 2009 5 DIS SC2 2009 5 30 DIY AGED BARES DIS 2009 8 2010 1 8 AGL Moon PT1 PT2 PT 1 PT 2 SC2 TW c ZW A umi gt SEP COTE PT2 SC 2 SC2
92. TIAS H H gt 2 2 mi
93. 10 c ca o Y V V V V V V V V V V V V gt 7 Willful abuse of use of robot Life cycle aspects Transportation Assembly Operation in use Start up Shutdown Process changeover Cleaning Maintenance Dismantling Disposal Emergency procedure etc 3 7 3 Personal care robot specific issues UK UK 1
94. robot L 3 automatically controlled reprogrammable manipulator or mobile mechanism with SC2 IS0 robot Service robot Ssh HH T a degree of autonomy programmable in more than one axis to perform an intended task 2 automatically controlled reprogrammable manipulator or mobile mechanism programmable in more than one axis to perform an intended task 3 automatically controlled reprogrammable manipulator or mobile mechanism to perform an intended task Industrial robot Multipurpose robot programmable in three or more axes for use in industrial automation applications Service robot Robot that provides service outside industrial automation applications Mobile robot Robot able to control the motion of its base 3 8 in the world coordinate system GT 1 Note Mobile robot can be with or without manipulators
95. 2 Classification 3 Mechanical structure 4 Geometry and Kinematics 5 Mobility 6 Manipulation 7 Programming and Control 8 Perception and sensing 9 Autonomy and Learning 10 Safety 11 Performances 12 Human robot interaction H 4 SC2 10 16 H 17 SC2 Chris Harper Rodolphe Gelin robot New definition actuated mechanism with a degree of autonomy moving in its environment to perform an intended task 01d definition reprogrammable or autonomous mechanical system moving in its environment programmable in more than one axis 5 PT3
96. iv 5 2 i gt 5 2
97. SC2 DIS ISO DISIO218 2 3 7 CD IS0 CD10218 1 5 Part2 FDIS Part1 DIS 3 3 5 ISO TC184 SC2 PT2 Robots in personal care 1 2008 6 26 R k 28 2 Hospital Centro Medico Teknon C Vilana 12 Barcelona SPAIN 3 18 E G Virk CLAWER UK RH AA H S Moon Sejong Univ S Rhim KY Univ SG Lee KH Un JK Joo KTL Hun Chan Park ETRI loy K H Park ETRI Gu Min Jeong Seung Ik Lee Seok Cheol Kee T Minsoo Ryu
98. 2 i jH 4 4 1 1 1 2 1 1 3 4 bo
99. KATS KOMA KAR a 3 IS09283 4 5 SC2 SC2 www isotc184sc2 org 6 PT2 IEC SC62A D 7 PT1 ISO10218 Fryman DISO 10218 2 ISO 10218 2 DIS 2009 2 SC2 2009 3 153 SC 2 2000 3 18 4 30 2009 5 SC2 2009 8
100. AE J H _ n Hil SEX F J Ma BEES RH NS IA Xn R amp D HU AT 4 py S BEST y E SUL Japan M 7 I SO f SE
101. H H CX A 4 Mr America Inc William Drotning Sandia National Frank Webster Omron STI IS0 TC184 SC2 PT1 ISO 10218 10 00 13 00 WG3 Small group meeting 09 00 18 15 WG3 Small group meeting 07 00 08 30 WG3 Small group meeting 08 30 18 15 WG3 Project meeting 07 00 08 30 WG3 Small group meeting 08 30 17 00 WG3 Project meeting 07 30 09 00 WG3 Small group meeting 08 30 17 00 WG3 Project meeting 07 30 10 00 WG3 Small group meeting 09 00 10 30 WGI amp WG3 joint meeting 10 30 15 00 WG3 Project meeting f Greenon WALT DISNEY WORLD Resort olia Palm Drive Lake Buena Vista FL 32830 USA Jeff Fryman Robotic Industries Associations Roberta Nelson Shea Pilz Automation Safety L P Peter Bostelman National Institute of Standards amp Technology Glyn Garside Pilz Automation Safety L P Michael Gerstenberger KUKA Robotics Claude Dinsmoor FANUC Robotics America Inc Troy Uahinui Toyota Motor Eng amp Manufacturing North R Todd Dickey Honda Engineering North America Inc Mike Douglas General Motors Corporation T Laboratories Jason Hill The Hill Engineering Group Inc Jim Van Kessel JVK Industrial Automation Inc F4 gt Mr Stefan Sagert VDMA F4 7 f amp b amp L 3638858 Mr Kevin Behnisch ABB
102. 2 21 3 3 y D 2 3 4 5 6 1 1 11 lv
103. Seungbin Moon FE E M YI Hun Chan Park Chris Harper 0sman Tokhi AA Gu Miu Jeong Soon Geul Lee pr t Minsoo Ryu Kwang Ho Park H Mattias Lafvas Rainer Bischoff 4 1 3 2 2 1 Seungbin Moon Rodolphe Gelin CEA PT3 Seungbin Moon 2 2 8373 Gelin 700 2 3 HA ppt 2328 1 Manipulation Mobility Human robot interface interaction HRI 3 filter 2 manipulating industrial robot
104. 14 RoSta Martin Hagele Fe 4 Fraunhofer IPA RoSta Robot Standards and Reference Architectures 15 Dave Smith Dave Smith SC2 RU PTI 16 2010 3 17 T 18 3 9 2 1 I EH IS0 TC184 SC2 PT1 ISO 10218 2008 4E 6 H 16 6 H 6 2 17 1 18 A 9 00 17 00 X 8 30 17 00 8 30 15 00 Ente Nazionale Italiano di Unificazione UNT Italian Organization for Standardization 3 3745 X E Jeff Fryman RIA Roberta Nelson Shea Pilz Automation Safety L P William Drotning Sandia National Laboratries David Felinski AMT Association for Manufacturing T
105. Annex23 52 2009 2 24 H Ck 47 49 37 AGL Wellington AG AG1 52 RoSta Barcelona RoSta Rodolphe Gelin AG1 46 PERE PPT HATO 18092838 REEI
106. CARS 2009 11 23 IREX 11 25 28 1 Moon IS0 2 Moon 3 Moon 3 3 11 ISO TC184 SC2 AGL 1 2008 6 H 25 k 9 00 12 30 2 Institut de Robotica i Informatica Industrial Llorens i Artigas 4 6 08028 Barcelona SPAIN 3 154 Seungbin Moon Hun Chan Park Jae Kyong Joo K H Park Rodolphe Delin l ym V Gurvinder S Virk Geff Fryman Chris Harper AA Gu Min Jeong Seung Ik Lee
107. H 4 E 19 7 2
108. 2 0 3 2 0 2 1 3 KEIRIN http ringring keirin jp Hr iu Ft d EX 7 d HI Px H EIIN 1 9 pu
109. 17 18 4 Moon 1 CD proposal by the end of June 2009 x Ls TR t H Review on CD voting results in Nov 2009 and Mar 2010 meetings DIS by the end of March 2010 Review on DIS voting results in July 2010 and Nov 2010 meetings FDIS by then end of Nov 2010 SO ge ee p IS publication by the beginning of 2011 7843 Rodolphe Gelin amp UT Michel Parent Seungbin Moon SC2 CD 2009 6 25
110. 5 6 a 2 3 4 7 1 1 JF
111. Tokhi U of Sheffield UK C Harper Av ian Tech UK R Gelin CEA Jeff Fryman RIA Abul Azad Northern Illinois Univ 4 5 4 Hazard Identification and Risk Assessment H 4 gt ISO 14121 1 General lZ Necessary information for risk assessment gt
112. lt un IE amp ZL Z n BE PI XE uu nu RADA R c amp E EF E 2 ff
113. n JE PV EV ALE A n A har BABEI j sun FY 2 n WUL Japan wM 7 t OE 1 EE D i GE EG EE RE GRE IER NE RE BE iE 1 bob PENADI RS STE SS SRA SA os 1 1 0 0 I IA A Ie Ie Ie 4h 1 Sosa RAI east E Gus Sata S amas te Co aba uta 1 2 on 3 2 1 rr 3 2 2 o amp amp A IA eee 4 Di a v f an 8 2 4 omen 15 3 ISOI alpa EA art RR ahaa are eae a 17 3 1 ISO TC184 SC2 eee 17 3 2 E EX EH E In ZA v 20 3 3 ISO
114. Robots and robotic devices Safety requirements Part2 Industrial robot system and integration lt Scope integration X GREE C PERARERUKDND V ROEK RECRE This international standard specifies safety requirements for the integra of industrial robots and robot systems as defined in Partl The integra includes 1 The design manufacturing installation operation maintenance de commissioning of the robot system 2 ecessary information for 1 above and 3 Component devices of the robot system cf CEN tion tion and This international standard does not deal specifically with hazards associated with processes e g laser radiation ejected ch
115. 09 4 3E HZ 2 SRO Part2 18 H Part2 9 H 17 Partl CEN ISO E2 9 HUI DIS 7 117 R IS0 TC184 SC2 E DIS 12 3 80W 5 10 5 Power and force limiting by control system 80W
116. GDAT ven uslunH JN uepeAS UIOH N YSN JeAooH N 99JnosoM aslllUuoD Buluueld pue AOIIOd uoneJ69ju UOWWOD YOS ZLONTYOS SUOI BOIIOdV 9OUBU91 ureW sonsouDeig 9 AWSOS WSN ope4Jo7 JN SDOU1SI 99UBUJJOJUO AueuuJ8 exzeg JG pue UOI B USUJSIduul eDenBue eeJoy uoo uq 99PJS1UI SS ddX LLODWV LOS S10dOJ 9oIAJSS 8 AWZOS 89IAJSS uoneoiiddy 9DWVGOS eouB ISUQI JA MN AIA J ueder epnsleIN JoJd oJu 1U9UJS5BUBI pue sseooJd Kjejes 1USUJUOJIAU S pue 9JBAJOS 6uunloejnueIN 8DAU LOS 9Je2 IBUOSJ8d JOM ZOS AueuuJ85 uueuieBeH JMA 6uunloejnuelIN ODMVGOS SUOIBQIIddV IBU1SnDU UI uone ven xoepes Jg ven ueu A JN Je1su peinquisiQ 8DWVLOS 5ullepoA lonpold 5SDAMVyODS jejes Ieusnpul SOMW ZOS YSN unde JN SsIAS pnons IG INOS YUVY AUBWI85 99BJDUO JA eouB ull8 JA IEISAUd JO uone4Baju 10 pue 6ullepoN L9ANSOS Meqi sued ZON YOS AielnqeooA LOAVZOS 6ullepoN ed DWVLOS WSN Jelsedoul JW eulsoHeled W VSN UWS 1n uoseN uepewS seAe JW BeuiaBuy W Aueuuee euose JIN ISSOM JIN syJomawes4 uoleJ6elul 9 suoneo seol eg IOJJUO Iunuuuuo INDY GOS 8LOT eed IBU1Snpul poS r8 LO L onoqow pue sjogoy ZOS P8LOL solAed eorsAud LOS T8 LO L eouB uldneI SA uosBI JA souB uldneI siw uo Bid JA eouB eueg JW vsn eurg JA dnoj AosIApV OV 8LO1 OSI uoneJ5eju pue suiejs s UOHeWOINY 8LO1 OSI SUelSAS u
117. 1 SC2 1809283 1 IS09283 Ik IS09283 2006 ZTO REORDER SNET pE FA
118. MADRE xd PEE eR 3 RUE AT p ELE Te Xn a TAL x ABE
119. Water proof Section 5 gt ISO 12100 water proof 2008 2 1 Wellington Operational modes Operationa modes Battery charging Section5 3 gt 1 Battery charging IEC 60335 O PL IS0 13849 1 2006 or SIL IEC 61508 1998 Section 5 3 12 Section 5 6 4 HA2 DO
120. non invasive medical robots in the near future since it is still mainly under a basic research stage It is of typical that a robot is controlled and operated via human neural or cerebral interface One such example may be a wearable physical assist robot that is controlled by human EMG electromyography signals to supplement one s muscular strength or movement for the physically impaired Another example includes a people carrier robot whose locomotion is controlled via transmission of human cerebral signals based upon one s intention Such robots under the biological neural interface mode shall be designed and constructed so that the actuation becomes active solely by one s intension under a safe speed and force determined by risk assessment or sufficient performance verification The robot coordinates its speed or the actuation force in such a way that it is able to move or stop only within a limited safe joint space angles The system shall also be designed so that when the system is placed under local control initiation of motion or change of local control selection from any other source shall be prevented 5 5 7 Human Robot Interfaces UK UK KE 10 UK BH
121. systems Part 5 2 Safety requirements Functional 5 4 Safety related control system performance IE IER FS 2 lt 5 8 6 Cableless teach controls gt Cableless or detachable teach controls lt 5 10 Collaborative operation requirements gt lt 5 10 2 Stop gt 5 5 3 EO protective stop IEC61800 5 2 Adjustable speed electrical power drive systems Part 5 2 Safety requirements Functional 2 5 10 5 Power and force limiting by inherent design 80W
122. 250 m s Pah OP ET od We SICK SICK 5 ISO 10218 project H 20 U n y 10 17 plenary meeting International Sympos H 21 Part1 O DIS Part2 FDIS 10 15 jum on 2009 2008 DIS Part2 DIS E 10 14 B H 10 16 A 10 18
123. 3 Part1 3 32 CD CD lt 2 gt 2 Normative references IS013149 1 1999 Safety of full address machinery Safety related parts of control systems Part 1 General principles for design ISO 13849 1 2006 5 5 Robot stopping functions 5 5 1 General Emergency stop Protective stop 5 Performance Level CD BES 3 Terms and definitions 3 23 singularity
124. pa Mr Steven Shaw Health and Safety Executive X Ms Roberta Nelson Shea Pilz Automation Safety L P Mr Frank Webster Omron STI Mr Otto G rnemann SICK Vertriebs AG Ms Anette Wester Odbratt Jokab Safety AB H 082 17 5 10 lt 1 Scope BY Scope Scope Scope 10 E robot Scopet EEL IZH L system
125. robot robotic device PT1 PT3 11 PT PT 1 PT 2 PT 3 12 ISO 10218 SC2 personal care robot ISO 10218 3 BUR e SO 10218 1 Robots and robotic devices Safety requirements Industrial robot e ISO 10218 2 Robots and robotic devices Safety requirements Industrial robot system and integration ISO XXXXX Robots and robotic devices Safety requirements Personal care robot 13 SC2 SC 2 PT AG PT AG WG WG 1 Vocabulary PT 3 WG 3 Industrial safety PT 1 WG 7 Personal care safety PT 2 WG 8 Service robots 4G 1 WG 1 WG 3
126. 5 5 7 5 5 7 UK 6 PT2 2008 10 14 H CX PM 15 R Ok SEE 2009 2 H 26 CR PM 27H Cm COEX 3 3 6 ISO TC184 SC2 PT2 Robots in personal care 1 20084E10H 14H CK 13 00 17 00 2008 10 15 9 00 17 00 2 COEX Canference Center Seoul Korea 3 144 0sman Tokhi Unv of Sheffield 2 I Chris Harper Evian Technologies LTD Mttias Lafvas SIS Seungbin Moon Sejong Univ Sungsoo Rhim Kyung Hee Univ Soon Guel Lee Kyung Hee Univ 4 Kwang Ho Park KATS Heun chan Park KTL Jae kyoung Joo KTL H AA TEMA JARA Michel Parent INRI
127. Automation GmbH Mr Helmut Riss Siemens AG Mr Otto G rnemann SICK Vertriebs AG Mr Bernhard Kramer Daimler AG E Mr Steven Shaw Health and Safety Executive Mr Hakan Brantmark ABB Robotics Ms Anette Wester Odbratt Jokab Safety AB CEN Dr Matthias Umbreit Berufsgenossenschaft Metall Nord S d Comit Europ en de Normalisation H PUR BT y 4 1 Jeff Fryman 2 ISO DIS10218 2 DIS 12 17 5 9 IS0 prEN ISO 10218 2 130 607 12 E Website
128. Motoman GmbH Helmut Riss Siemens AG Otto G rnemann SICK Vertriebs AG Bernhard Kramer Daimler AG p i E m oh Steven Shaw Health and Safety Executive Hakan Brantmark ABB Robotics Jan Ingmar Rosenblad Motoman Robotics Europe AB Anette Wester Odbratt Jokab Safety AB HE Sang Youb Lee Korea Machine Tool Manufacturing Association Je Ho Shin Hyundai Heavy Industries Co Ltd H KH Toyota Motor Engineering amp Mfg North America Inc fig TAn 0 PUR sexe HT YY 4 1 Y Jeff Fryman 2 ISO DIS10218 2 DIS 9 22 El 10 1
129. robot i e multiple persons 5 5 6 3 Automatic Semi autonomous mode This operational mode is typically found under the robot classifications mobile manipulator robots and people carrier robots It is of typical that a robot moves automatically or semi autonomously If it can be clearly identified that no unintended person is in the collaborative workspace then the robot may move on autonomously as programmed The automatically driven speed and personnel detection clearance shall be coordinated in accordance with 5 5 7 The robot coordinates its speed or the clearance in such a way that it is able to stop and attempt to avoid a collision with human If a person is detected by means of human robot interfaces described under 5 5 7 and enters workspace the robot first continues with its automatic operation with reduced speed based upon risk analysis If the clearance between the robot and human is further decreased and if the human intrudes the minimally safe clearance the robot shall make a safe stop with a minimal travel distance NOTE unintended applications and intended applications will have different safe minimal clearance When the clearance distance is restored the robot can continue resume its planned movement or task s with programmed speed 5 5 6 4 Biological neural interface mode This operational mode is typically to be found under the robot classifications restrained type physical assistance robots and
130. 0 2 DIS DIS ba11ot 5 PT2 2010 6 DIS FDIS 2010 10 2010 12 FDIS 2 gt 2011 IS 2 10 15 4 5 unintended contact human detection BLE 6 IEC 61508 IS0 13849 SIL PL PC
131. 1 healthcare gt Partl Clk medical care applications Part1 healthcare Partl Part2 gt Part 1 PC Part 2 PC 4 People carrier comments NP personalcare N580 Orlando doc PC 4 D Mobile servant robots with without manipulator Physical assistance robots rehabilitation is out of scope People carrier robots Personal care robotic device WG1 medical care robot gt medical care 9 Yes No gt Keywords medical professions treatment cure physical condition improvement A TS0 14121 Part 1 2007 EHO ENSE amp ZR SME Partl Part4
132. 2 sss i ATI OS 227 lt 5 Safety requirements and protective measures gt 5 ECHO ELPA ACB ARE SURV LE DCR SNORE CHS LOR 5 1 General The design of the robot system shall be easy and perspicuous to operate and to maintain based on ergonomics The robot system s
133. 2007 6 WD 2009 2 18 NWIP CD WD 2007 6 IS0 TC184 SC2 AG1 SC2 SC2
134. 3 1 General terms 2008 06 26 General doc robot robot robotic device industrial robot PT1 task service robot professional domestic domestic professional 3 2 Classification 2008 06 26 Classification doc 3 3 Mechanical structure PT3 3 4 Geometry and Kinematics
135. A 1 10H 14H SC2 Mr Mattias Lafvas PT2 EC Machinery directives e Medical device direct ives non invasive PC personal care robots based on machinery directives 2 non invasive PC personal care robots based on medical device directives 3 invasive PC personal care robots based on medical device directives NWI new work item E 3 4 PT2 2008 10 NWIP scope PT2 2009 2 PT2 2009 6 CD CD 00 3 ballot 3 PT2 2009 10 CD PT2 201
136. Hazard Identifications xls PC 4 gt 4 3 mobile servant people carrier and physical assistant gt 4 PC robotic devices Orlando Hele Prof Moon Part2 mobile servant 5 2 WG7 5 gt 4
137. ND S n n SRA n EDO RTEKA n HERERO EELE AEEA Ze D FHE IDEC n Eh RT VF n JIRET JUPE mj y MO Y ty n 76 FRS n fis 082422 n F n n UT UNRLEX n SZARKA n WAIE n AF n R amp D
138. Seok Cheol Kee Minsoo Ryu Ww A SEEDS D 2 3 4 WG 5 PT1 PT2 6 7 5 39 31 PTL PT2 31 PTI PT2 18 40 Seung Ik Lee 19 Robot contents Robot behaviours Digital contents Orocos RTC AUTOSTAR OMG 41 PERE PT TSO 9283 fi ITS0 9283 SC2
139. e provided to indicate the mode selected When provided for safety related purposes the output s shall comply with the requirements of safety related control system performance hardware software and ISO 13849 1 1l Behavior based guide mode 5 5 6 2 1 Person on board mode This operational mode is typically found under the robot classification people carrier robots Whenever practicable control devices and control positions shall be located within a cabin or similar control space so that the operator is able to observe the working driving area or hazard zone The system shall be designed and constructed so that when the system is placed under local control initiation of motion or change of local control selection from any other source shall be prevented 5 5 6 2 2 Wearable control mode This operational mode is typically found under the robot classification restrained type physical assistance robots It is of typical that such a physical assistance robot is worn by a human operator and that the human movement is restricted due to the mechanical constraints of the robot The wearable physical assistance robot shall be designed and constructed so that it actuates solely by one s intension under a safe speed and force determined by risk assessment or sufficient performance verification The wearable physical assistance robot coordinates its speed or the actuation force in such a way that it is able to move or stop o
140. echnology Michael Gerstenberger KUKA Robotics Claude Dinsmoor FANUC Robotics America Inc CEN H 4 1 R Todd Dickey Honda Engineering North America Inc Gilbert Dominguez Pilz Automation Safety L P Mike Douglas General Motors Corporation Jason Hill Industrial Accident Prevention Association Jim Van Kessel JVK Industrial Automation Inc Christopher Gow CAG Industrial Automation Stefan Sagert VDMA Wieland Link Safety Consultant for Machinery Richard Schwarz KUKA Roboter GmbH Marcus Frey D rr Systems GmbH Kevin Behnisch ABB Automation GmbH Ulrich Goller Motoman GmbH Helmut Riss Siemens AG Otto G rnemann SICK Vertriebs AG Bernhard Kramer Daimler AG Gurvinder Singh V Rodolphe Gelin CEA LIST PT3 Acoulon Sylvain CETIM Renzo Calcagno COMAU Robotics Paolo Carlo De Benedelto Pilz Italy SRL Anette Wester Odbratt JOKAB SAFETY AB uil Guido Schmitter SUVA Schweizerische Unfallversicherungsanstalt Matthias Umbreit Berufsgenossenschaft Metall Nord S d eS CRaBSmpm RZ E A VER IDECUR TUER W8 gt YY
141. hall be designed to avoid exposure of the personnel to the hazard lt 5 2 Safety related control system performance hardware software gt and or a Performance levels PL and categories as described in ISO 13849 1 2006 b Safety integrity levels SIL and hardware fault tolerance requirements as described in IEC 62061 2005 and The designer can choose one standard or the other to use lt 5 3 15 Enabling devices gt Multiple robot system Multiple robot system
142. he integration of industrial robots and robot systems as defined in ISO 10218 1 2006 gt This International Standard specifies safety requirements for the integration of industrial robots and industrial robot systems as defined in Part 1 and industrial robot cell s Th e integration includes a The design manufacturing installation operation maintenance and de commissioning of the industrial robot system b Necessary information for a above and c Component devices of the industrial robot system System comprising robot end effector s any machinery equipment devices or sensors that supports the robot performing its task GE ISO 10218 1 2006 3 2018 industrial robot system comprising Robot End effector s Any equipment devices or sensors required for the robot to perform its task 5 4 3 Means for limiting motion gt JERACOSENDREOCLIUABESCHB LIRE ux F ZA AO Al PR lt 5 10 Safeguarding gt 98 ZEO BARBS
143. ips welding smoke Other standards can be applicable to these process hazards 2 imi 2 2 3 1 2
144. nd robotic devices Safety requirements Industrial robot H e ISO 10218 2 Robots and robotic devices Safety requirements Industrial robot system and integration Part 1 2006 6 HIZ IS FDIS SC2 10 2009 3 CD Part 2 Part 1 WD 2006 11
145. nical Limiting Devices Part1 5 12 Axis limiting 3 80W max imum load max speed EL Ic E 80W H and full extention ISO 10218 1 2006 5 10 Collaborative operation requirements 1 5 10 5 Power and force limiting by inherent design The robot shall be designed to ensure either a maximum dynamic power of 80 W or a maximum static force of 150 N at the flange or TCP determined by the risk assessment
146. nly within a limited safe joint space angles and avoids falling down on the ground 5 5 6 2 3 Remote control person off board mode This operational mode is typically found under the robot classifications restraint free type physical assistance robots and invasive medical robots It is of typical that a robot is controlled under a human intention or assisted by a human operation Network enabled personal care robot e g LAN modem and internet which allow remote access for archiving diagnostics visualizing etc shall not cause any local hazardous motion If such a robot is to be remotely controlled the following shall be required a The robot operation is only possible from the local operation control also Override acknowledgement of safety functions hold to run b The controller shall be equipped for the selecting the source of control At one time only one source of control shall be active single point of control c Enabling and disabling of the remote control and the source of remote control shall only be locally selectable d All controller functions that may cause a hazard e g motion of robot forcing outputs that controls hazardous equipment changing values that influence the robot in a hazardous way e g override shall be possible only from the single selected source of control e Umbiguous commands verbal or any other means shall not be accepted to initiate hazardous motion of the
147. oneuoiny IeWsnpul c S DERE vV8L0L 0SI 2 O JE 2 1 3 105 0011 5 8 03 3434 538A 105 0011 5 8 03 3434 2919
148. rsonal care robots N E lt Hj EE tile gt 1 WG7 PT2 1 o WG7 6 U 6 E K1 medical care robots E WG E 2 3 IS0 SC2 2010 3 8 WG7 WG1
149. trial Automation Inc Jason Hill The Hill Engineering Group Inc Flemming Madsen Maskinsikkerhed Ht A EE HI P 4 y Stefan Sagert DIN NAM VDMA Joseph Leibinger KUKA Roboter GmbH Richard Schwarzb KUKA Roboter GmbH Ernesto Otto G rnemann SICK Bernhard Kramer Daimler Martin Haegle Fraunhofer IPA Rainer Bischoff KUKA Roboter GmbH Renzo Calcagno KOMAU Robotics wa H 7 ER TUR dE Seungbin Moon Sejong University Jae Kyoug Joo Korea Testing Laboratory Kyungdong Kim KOMMA Kwang ho Park Agency for Technology and Standards 0sman Tokhi University of Sheffield Chris Harper Avian Technologies Ltd Jeff Fryman RIA Roberta Nelson Shea Pilz Automation Safety L P Gilbert Dominguez Pilz Automation Safety L P R Todd Dickey Honda Engineering North America Inc Mike Calardo ABB Inc Michael J Douglas General Motors Corporation OF HADE
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