ISO 22166-1:2021
(Main)Robotics — Modularity for service robots — Part 1: General requirements
Robotics — Modularity for service robots — Part 1: General requirements
This document presents requirements and guidelines on the specification of modular frameworks, on open modular design and on the integration of modules for realising service robots in various environments, including personal and professional sectors. The document is targeted at the following user groups: — modular service robot framework developers who specify performance frameworks in an unambiguous way; — module designers and/or manufacturers who supply end users or robot integrators; — service robot integrators who choose applicable modules for building a modular system. This document includes guidelines on how to apply existing safety and security standards to service robot modules. This document is not a safety standard. This document applies specifically to service robots, although the modularity principles presented in this document can be utilized by framework developers, module manufacturers, and module integrators from other fields not necessarily restricted to robotics.
Robotique — Modularité des robots de service — Partie 1: Prescriptions générales
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INTERNATIONAL ISO
STANDARD 22166-1
First edition
2021-02
Robotics — Modularity for service
robots —
Part 1:
General requirements
Robotique — Modularité des robots de service —
Partie 1: Prescriptions générales
Reference number
©
ISO 2021
© ISO 2021
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting
on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address
below or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii © ISO 2021 – All rights reserved
Contents Page
Foreword .v
Introduction .vi
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 2
3.1 General terms . 2
3.2 Terms related to component . 3
3.3 Terms related to module . 4
3.4 Terms for classification of modules . 6
3.5 Characterization of modules regarding principal function . 7
4 General provisions. 7
4.1 General . 7
4.2 Generic principles of modularity . 8
4.2.1 General. 8
4.2.2 Composability . . . 8
4.2.3 Integrability . 8
4.2.4 Interoperability . 8
4.2.5 Module granularity . 8
4.2.6 Platform independence . 8
4.2.7 Openness . 8
4.2.8 Reusability . 9
4.2.9 Safety . 9
4.2.10 Security . 9
4.3 Abstraction . 9
4.4 Electrical interfaces and communication protocols .10
4.5 Interchangeability .11
4.6 Module properties . .12
4.6.1 General.12
4.6.2 Module identification .12
4.7 Simulation .12
4.8 Data types for interoperability .13
5 Provisions for safety and security .13
5.1 General .13
5.2 Robot system level safety .15
5.3 Module level safety .16
5.4 General aspects of security .18
5.5 Steps to design security into a module .19
5.6 Physical security of modules .19
5.7 Cyber security of modules .19
6 Hardware aspects in module design .20
6.1 General .20
6.2 Requirements and guidance for hardware aspects of modules .21
6.2.1 Mechanical interfaces .21
6.2.2 Interfacing for power supply .24
6.2.3 Other aspects for module description .24
7 Software aspects in module design .25
7.1 General .25
7.2 Information model .25
7.2.1 General.25
7.2.2 Model for exchange of information among modules .26
7.2.3 Model for access to properties and its access .26
7.2.4 Model for error handling and recovering .27
7.2.5 Interoperation of software modules .28
7.3 Architectural model for software modules .29
7.3.1 General.29
7.3.2 Requirements for software modules .31
7.4 Safety/Security-related requirements for modules with software aspects .32
7.4.1 General.32
7.4.2 Interaction with safety/security manager modules .33
8 Information for use .33
8.1 General .33
8.2 Markings or Indications .34
8.3 Information for users .35
8.4 Information for service .36
Annex A (informative) Robot module template .37
Annex B (informative) Robot module examples .39
Annex C (informative) Use case examples of modularity for service robots .50
Annex D (informative) Guidance for testing robot modules .62
Bibliography .67
iv © ISO 2021 – All rights reserved
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out
through ISO technical committees. Each member body interested in a subject for which a technical
committee has been established has the right to be represented on that committee. International
organizations, governmental and non-governmental, in liaison with ISO, also take part in the work.
ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of
electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria
...
INTERNATIONAL ISO
STANDARD 22166-1
First edition
2021-02
Robotics — Modularity for service
robots —
Part 1:
General requirements
Robotique — Modularité des robots de service —
Partie 1: Prescriptions générales
Reference number
©
ISO 2021
© ISO 2021
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting
on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address
below or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii © ISO 2021 – All rights reserved
Contents Page
Foreword .v
Introduction .vi
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 2
3.1 General terms . 2
3.2 Terms related to component . 3
3.3 Terms related to module . 4
3.4 Terms for classification of modules . 6
3.5 Characterization of modules regarding principal function . 7
4 General provisions. 7
4.1 General . 7
4.2 Generic principles of modularity . 8
4.2.1 General. 8
4.2.2 Composability . . . 8
4.2.3 Integrability . 8
4.2.4 Interoperability . 8
4.2.5 Module granularity . 8
4.2.6 Platform independence . 8
4.2.7 Openness . 8
4.2.8 Reusability . 9
4.2.9 Safety . 9
4.2.10 Security . 9
4.3 Abstraction . 9
4.4 Electrical interfaces and communication protocols .10
4.5 Interchangeability .11
4.6 Module properties . .12
4.6.1 General.12
4.6.2 Module identification .12
4.7 Simulation .12
4.8 Data types for interoperability .13
5 Provisions for safety and security .13
5.1 General .13
5.2 Robot system level safety .15
5.3 Module level safety .16
5.4 General aspects of security .18
5.5 Steps to design security into a module .19
5.6 Physical security of modules .19
5.7 Cyber security of modules .19
6 Hardware aspects in module design .20
6.1 General .20
6.2 Requirements and guidance for hardware aspects of modules .21
6.2.1 Mechanical interfaces .21
6.2.2 Interfacing for power supply .24
6.2.3 Other aspects for module description .24
7 Software aspects in module design .25
7.1 General .25
7.2 Information model .25
7.2.1 General.25
7.2.2 Model for exchange of information among modules .26
7.2.3 Model for access to properties and its access .26
7.2.4 Model for error handling and recovering .27
7.2.5 Interoperation of software modules .28
7.3 Architectural model for software modules .29
7.3.1 General.29
7.3.2 Requirements for software modules .31
7.4 Safety/Security-related requirements for modules with software aspects .32
7.4.1 General.32
7.4.2 Interaction with safety/security manager modules .33
8 Information for use .33
8.1 General .33
8.2 Markings or Indications .34
8.3 Information for users .35
8.4 Information for service .36
Annex A (informative) Robot module template .37
Annex B (informative) Robot module examples .39
Annex C (informative) Use case examples of modularity for service robots .50
Annex D (informative) Guidance for testing robot modules .62
Bibliography .67
iv © ISO 2021 – All rights reserved
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out
through ISO technical committees. Each member body interested in a subject for which a technical
committee has been established has the right to be represented on that committee. International
organizations, governmental and non-governmental, in liaison with ISO, also take part in the work.
ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of
electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria
...
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