ENR506: Robotics 2/10/2023

International Standards
ENR506: Robotics: Session

International Standards, and

Articulated Robots International Standards Organization (ISO)
Technical Committee (TC)
- Dr. Keyur Dineshchandra Joshi Robotics: ISO/TC 299
Selected Standards are discussed in next few slides
(The standards are priced and can be purchased)

1. ISO 8373: 2021 1. ISO 8373: 2021

• This standard defines the terms used in Robotics, priced around US $40. “Industrial Robot System” = Machine comprising an industrial robot, end
• ISO and International Electrotechnical Commission (IEC) jointly worked effector, any end effector sensors, and equipment needed to support the
• Selected terms with definitions: intended task, and a task program.
“Robot” = Programmed actuated mechanism with a degree of autonomy to “Robotics” = Science and practice of designing, manufacturing and applying
perform locomotion, manipulation or positioning. robots.
“Autonomy” = Ability to perform intended tasks based on current state and “Human-robot interaction” = Information and action exchanges between
sensing, without human intervention. human and robot to perform a task by means of a user interface.
“Robotic device” = Mechanism developed with robotic technology but not “Robotic arm” = Interconnected set of links and powered joints of the
fulfilling all characteristic of a robot. manipulator between the base and the wrist.

Source: ISO Source: ISO

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

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ENR506: Robotics 2/10/2023

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.

Source: ISO Source: ISO

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

Three Components of Articulated Robot

Articulated robot and its components

Industrial robot with rotary joints 1. Robot arm

2. Robot control cabinet
3. Robot pendant

These three main components

are interconnected with
cabling.
Source: ASME

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ENR506: Robotics 2/10/2023

Robot Arm and Control pendant The Control cabinet

The control pendant

• The control cabinet holds

the control system

• 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.”

The ASME robot arm

Source: ASME

Robot Base Tool Flange

The robot base holds the robot

to its workspace A tool flange is a place where an end
effector such as gripper can be
It houses internal components mounted on the robot.
such as:
11
• Backup encoder battery It has some bolt circles for mounting
• Compartment the selected end effector
• Human controls: E-stop
• Electronics
• Cable connections
Source: ASME Source: ASME

Linear vs Torsional cables

A cable designed for linear movement
Robot Cables Management should not be used
for six axes robot applications Source: Lgmproducts

Both types of theses cables appear similar from

outside.

However, internal construction and design of

torsional cable is different.

Torsional cables can 1) bend 180 degrees, 2) absorb

strain and 3) extend the life cycle of the cable
Source: DirectIndustry, Sab-cable

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ENR506: Robotics 2/10/2023

Cable management Cabling package options from manufacturer

Cabling package: Three options:
Communication wire, power cable, compressed air, lubrication, 1) Mechanical attachment points,
welding wire and others. 2) Internal passage and cable ways, and
3) Pre-routed internal wires and hoses
Challenges:
1. Stretch between cabling and the Front view and side view of a cabling package is shown below:
robot due to robot motion
2. Wear of cabling and hoses due to
friction from repeated motion
3. Entanglement between cabling
package and other objects
4. Vibration from robot movement and
processing of workpieces
Source: LAPP

Source: ASME

Cabling package options from manufacturer

1) Mechanical attachment points 2) Internal passage and cable ways
Robotic Arm Designs

Source: ASME

Source: ASME 3) Pre-routed internal wires and hoses

Source: ASME

Robot Designs Multi-bar linkages

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

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ENR506: Robotics 2/10/2023

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.

Counter balanced Cylinders: (Objective same as counterweights) Locally mounted motors:

The cylinder looks like hydraulic or pneumatic cylinder with a difference: Here, motors are mounted directly on the driven joint
the cylinder is sealed.
Inside the sealed cylinder, is a pressurized gas set to a pressure which is designed Most robots have a few joint motors locally mounted.
to provide the desired counter load. Commonly, joints 1, 2, and 3 have locally mounted motors.
Advantage: high force density (high force/load with less space on robot)
Advantage: Simplified mechanical design
Source: Gomez Espinosa et al , 2014
Source: ASME

Robot Control Cabinet Robot Control Cabinet

Communication: (through control cabinet)
The processor responsible to conduct all The robot system is attached to networks via Ethernet or Wi-Fi
the kinematic calculations required to for 1) manufacturing process monitoring, 2) sensor and system
move each robot joint resides in the communication, 3) remote programming and control, and
controller cabinet. 4) using cloud services sometimes.

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.

Source: ASME and KUKA Source: ASME

Robot types and properties Safety for articulated robots

Properties: Each joint in an articulated robot has a working range (min and max values)
Adaptability, Model options, Manipulation, Cost, Payload, and Reach.
Stops with its types:
1. SCARA (Selective Compliance Articulated Robot Arm):
1) Hard stop: physical obstacle mounted on one of
• Cost effective robots for industrial applications
2. Gantry robots: the robot links. Last resort of safety, found on
Industrial robots in general.
• Support largest payloads
3. Articulated robots:
2) Physical barriers: These will ensure restricted
• Manipulation ability, Suitable for flexible manufacturing
motion such as fencing.
4. Delta robots:
• High speed tasks application
3) Soft stop: Restricting a robot’s motion using a
‘LOSTPED’ term by Bosch Rexroth company (useful in robot type selection) program. Most commonly used method due to its
flexibility and simplicity.
Load, Orientation, Speed, Travel, Precision, Environment, and duty cycle
Source: ASME and Bosch Rexroth Source: ASME

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ENR506: Robotics 2/10/2023

Cartesian Coordinate System & Frames Articulated Arm Operations

A pose of a robot (position and orientation) can be described using numbers Movement:
Cartesian coordinate system: Pick and place: moving workpiece from one location to the other.
Two/Three axes, two/three values for a unique position. Loading and unloading: Insertion/removal of material to/from machine
Origin: point of axes intersection. Assembly and disassembly: bring components together or take them apart
Frames: Manufacturing:
Global (WORLD) frame: 3D coordinate frame serving as
Deburring: use of powered rotating tool to remove rough edges from a part
a reference for the other frames
Base frame: 3D frame whose origin is robot’s base Grinding/Sanding/Polishing: similar operations & different material removal
Tool frame: 3D frame whose origin is the center of the
Cutting: Robot uses a saw, LASER, or water jet equipment to separate materials
robot tool flange
Work Object frame: 3D frame with reference to the Machining: use of rotated cutter for material removal to create a desired profile
workpiece for which a robot is performing some actions.
Source: ASME Source: ASME

Articulated Arm Operations Robot Manufacturers

Process: Universal Robots, Denmark
Welding: fuse base materials together with high amount of heat Fanuc, Japan
Painting: common application of performing repetitive tool movement ABB, Switzerland
Other: Yaskawa, Japan
Inspection: inspecting critical dimensions on the surface of a part using a camera KUKA, Germany
or other sensor for finding the defects Denso, USA
Hitachi, Japan
Omron, USA
Staubli, Switzerland
Comau, Itali
Source: Association for advanced automation, direct industry, and Sastra robotics

Popular Brands Comparison

UR:
Universal Robots: Affordable and Collaborative industrial robots, Simplified
Best in ease of use, heavy duty,
Fanuc: Mature offering of industrial robots, high capacity industry applications
and harsh environments
Yaskawa: (aka Motoman in USA) Lower payload industrial tasks, Cobots
Fanuc:
ABB: Comprehensive robot selection, Motion control, Heavy duty & reliable
Best in high payload
KUKA: Heavy duty industrial robots, High payload and capacity
ABB:
Best in programming, path
planning, high payload, heavy
duty and harsh environments

Source: Chris Quick, RealBotics Inc. and ASME

Keyur D. Joshi, Ahmedabad University 6