ISO 18646-2:2019 pdf download.Robotics – Performance criteria and related test methods for service robots Part 2 Navigation.
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 ISO 18646-2 selects which performance characteristics are to be tested, in accordance with the specific requirements.
The performance criteria specified in this document are not intended to be interpreted as the verification or validation of safety requirements.
ISO 18646-2 describes methods of specifying and evaluating the navigation performance of mobile service robots. Navigation performance in ISO 18646-2 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 SO 18646-2.
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.
3.6
load
force and/or torque at the mechanical interface or mobile platform (3.3) which can be exerted along the various directions of motion under specified conditions of velocity and acceleration
Note 1 to entry: The load is a function of mass, moment of inertia, and static and dynamic forces supported by the robot (11).
SOURCE: ISO 8373:2012, 6.2.1
3.7
rated load
maximum 10(1(1 that can be applied to the mechanical interface or mobile platform (3d) in normal operating conditions (3..9) without degradation of any performance specification
Note ito entry: The rated load includes the inertial effects of the end effector, accessories and workpiece, where a p p11 cable.
SOURCE: ISO 8373:2012, 6.2.2
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 he reported in the test report.
All conditions specified in Clause 4 should be satisfied for the tests described in ISO 18646-2, unless it is stated otherwise in the specific clauses.
Each test described in each clause of ISO 18646-2 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.ISO-18646-2-2019