1、 STD-BSI BS EN IS0 9283-ENGL 1998 Lb24bb9 07a289 058 M BS EN IS0 9283:1998 BRITISH STANDARD Incorpomti.lul Amenment No. 1 Manipulating industrial robots - Performance criteria and related test methods The European Standard EN IS0 9283:1998, with the incorporation of its amendment 1: 1998, has the st
2、atus of a British Standard ICs 25.040.30 NO COPYING WITHOUT BSI PERMISSION EXCEPT AS PERMITTED BY COPYRIGHT LAW STD-BSI BS EN IS0 7283-ENGL 1798 W 1b24bb9 0798290 87T 9 Ihls Biilish Standard, having been ywpaml under the direction or the DISC hoard, was published under lhe authority of Ihe Standards
3、 Cammil(pc. and corns into effect on 15 AugW 1998 National foreword AiistofonsrepmentedonthEs cmunmee * canbeobtainedonnquestto its!xmtary. cros-references Attenriosi isdrawn to the faathat C“ and CENELM: Standards no- mchide anamrexwtkhlis distance accuracy and distance repeatability; position stab
4、ilization time: position overshoot; drift of pose characteristics; exchangeability: path accuracy and path repeatability; path accuracy on reorientation cornering deviations; path velocity characteristics; minimum posing time; static compliance; weaving deviations. This International Standard does n
5、ot specify which of the above performance characteristics are to be chosen for testing a particular robot. The tests described in this International Standard are primarily intended for developing and verifying individual robot specifications, but can also be used for such purposes as prototype testi
6、ng, type testing or acceptance testing. To compare performance Characteristics between different robots, as defined in this International Standard, the following parameters have to be the same: test cube sizes, test loads, test velocities, test paths, test cycles, environmental conditions. Annex A p
7、rovides parameters specific for comparison testing of pose-to-pose characteristics and path characteristics. This International Standard applies to all manipulating industrial robots as defined in IS0 8373. However, for the purpose of this International Standard the term “robot“ means manipulating i
8、ndustrial robot. 1 STD*BSI BS EN IS0 7283-ENGL 2798 Lb2LibbS 0798299 TT7 = EN IS0 9283:1998 2 Normative references The following standards contain provisions which, through reference in this text, constitute provisions of this International Standard. At the time of publication, the editions indicate
9、d were valid. All International Standards are subject to revision, and parties to agreements based on this International Standard are encouraged to investigate the possibility of applying the most recent editions of the standards indicated below. Members of IEC and IS0 maintain registers of currentl
10、y valid International Standards. IS0 8373: 1 994, Manipulating industrial robots - Vocabulary. IS0 9787: 1 990, Manipulating industrial robots - Coordinate Systems and motions. IS0 9946: 1991, Manipulating industrial robots - Presentation of characteristics. 3 Definitions For the purpose of this Int
11、ernational Standard, the definitions given in IS0 8373 and the following definitions 3.1 cluster: Set of measured points used to calculate the accuracy and the repeatability characteristics (example shown diagrammatically in figure 8). 3.2 barycentre: For a cluster of n points, defined by their coor
12、dinates (Xj - Yj - zj ), the barycentre of that cluster of points is the point whose coordinates are the mean values x, y , and i calculated by formulae given in 7.2.1. apply. - 3.3 measuring dwell: Delay at the measurement point prior to recording data (e.g. time between control signal “in position
13、“ and the “start measuring“ of the measuring device). 3.4 measuring time: Time elapsed when measurements are recorded. 4 Units Unless otherwise stated, all dimensions are as follows: . length in millimetres (mm) angle in radians or degrees (rad) or (O) time in seconds (SI mass in kilograms (kg) forc
14、e in newtons (N) velocity in metres per second (mis) I degrees per second radians per second . (rad/s) - - . - . - . - . - . (“/s ) or 2 STD-BSI BS EN IS0 9283-ENGL 1778 Lb2Libb9 0798300 Sli9 W EN IS0 9283:1998 5 Abbreviations and symbols For the purposes of this International Standard, the followin
15、g abbreviations and symbols apply. 5.1 Basic abbreviations A R V F d P D T v W E Accuracy Repeatability Variation Fluctuation Drift Pose Distance Path (trajectory) Velocity Weaving Exchangeability 5.2 Quantities a, b, c x, Y, n m S D I V AP RP vAP AD RD t ov dAP dRP AT RJ CR CO AV RV Orientation (an
16、gular components) about the x, y, and z-axis Linear coordinates along the x-, y-, z-axis Number of measurement cycles Number of measurement points along the path Standard deviation Distance between two points Distance between the attained pose and the barycentre of the attained poses Path velocity P
17、ose accuracy Pose repeatability Multi-directional pose accuracy variation Distance accuracy Distance repeatability Position stabilization time Position overshoot Drift of pose accuracy Drift of pose repeatability Path accuracy Path repeatability Cornering round-off error Cornering overshoot Path vel
18、ocity accuracy Path velocity repeatability 3 STD.BS1 BS EN IS0 9283-ENGL 1998 Lb24bb 0798301 485 EN IS0 9283:1998 Fv Path velocity fluctuation ws Weaving stroke error WF Weaving frequency error 5.3 Indices a, 6. c x, Y, c i i k h 1,2 . e g P Indicates an orientation characteristic about the x-, y-,
19、z-axis Indicates a positioning characteristic along the x-, y-, z-axis Command Indicates the Hh abscissa Indicates the j-th cycle Indicates the k-th direction Indicates the h-th direction Indicates the pose number 1,2 Comer point (edge) Point where the robot performance falls within the specified pa
20、th characteristics Position 5.4 Other symbols I Cl to Cs Comers of the test cube El to E4 Corners of the rectangular plane for the measurement of path characteristics G The barycentre of a cluster of attained poses oc Origin of the measurement system coordinates NOTE 1 - Further symbols are explaine
21、d in the respective subclauses. 6 Performance testing conditions 6.1 Robot mounting The robot shall be mounted in accordance with the manufacturers recommendations. 6.2 Conditions prior to testing The robot shall be completely assembled and fully operational. All necessary levelling operations, alig
22、nment procedures and functional tests shall be satisfactorily completed. The tests shall be preceded by an appropriate warm-up operation if specified by the manufacturer, except for the test of drif of pose characteristics which shall start from cold condition. 4 STD-BSI BS EN IS0 9283-ENGL 1996 m 1
23、bZLibbS 0798302 311 EN IS0 9283:1998 If the robot has facilities for adjustment by the user that can influence any of the tested characteristics, or if characteristics can be recorded only with specific functions (e.g. calibration facility where poses are given by off- line programming), the conditi
24、on used during the test shall be specified in the test report and (where relevant for individual characteristics) shall be kept constant during each test. 6.3 Operating and environmental conditions The performance characteristics as specified by the manufacturer and determined by the related test me
25、thods in this Intemational Standard, are valid only under the environmental and normal operating conditions as stipulated by the manufacturer. 6.3.1 Operating conditions The normal operating conditions used in the tests shall be as stated by the manufacturer. Normal operating conditions include, but
26、 are not limited to, requirements for electrical, hydraulic and pneumatic power, power fluctuations and disturbances, maximum safe operating limits (see IS0 9946). 6.3.2 Environmental conditions 6.3.2.1 General The environmental conditions used in the tests shall be as stated by the manufacturer, su
27、bject to the requirements of 6.3.2.2. Environmental conditions include temperature, relative humidity, electromagnetic and electrostatic fields, radio frequency interference, atmospheric contaminants, and altitude limits. 6.3.2.2 Testing temperature The ambient temperature (e) of the testing environ
28、ment should be 20“ C. Other ambient temperatures shall be stated and explained in the test report. The testing temperature shall be maintained at (e i 2)“ c The robot and the measuring instruments should have been in the test environment long enough (preferably overnight) so that they are in a therm
29、ally stable condition before testing. They shall be protected from draughts and external thermal radiation (e.g. sunlight, heaters). 6.4 Displacement measurement principles The measured position and orientation data (xi, y, z, a, b, Cj) shall be expressed in a base coordinate system (see IS0 9787),
30、or in a coordinate system defined by the measurement equipment. If the robot command poses and paths are defined in another coordinate system (e.9. by off-line programming) than the measuring system, the data must be transferred to one common coordinate system. The relationship between the coordinat
31、e systems shall be established by measurement. In this case the measurement poses given in 7.2.1 shall not be used as reference positions for the transformation data. Reference and measurement points should be inside of the test cube and should be as far away from each other as possible (e.9. if Pl
32、to P5 are measurement points, CBi C4, C5, C6 may be used). 5 STD-BSI BS EN IS0 9283-ENGL 1996 9 lb2Libb9 0778303 258 = EN IS0 9283:1998 For directional components of the performance criteria, the relationship between the base coordinate system and the selected coordinate system shall be stated in th
33、e test results. The measurement point shall lie at a distance from the mechanical interface as specified by the manufacturer. The position of this point in the mechanical interface coordinate system (see IS0 9787) shall be recorded (see figure 7). The sequence of rotation used when calculating the o
34、rientation deviation should be in a way so that the orientation can be continuous in value. This is independent if the rotation is about moving axes (navigation angles or Euler angles), or rotation about stationary axes. Unless otherwise specified, the measurements shall be taken after the attained
35、pose is stabilized. 6.5 Instrumentation For path characteristics, overshoot and pose stabilization measurements, the dynamic characteristics of the data acquisition equipment (e.g. sampling rate) shall be high enough to ensure that an adequate representation of the characteristics being measured is
36、obtained. The measuring instruments used for the tests shall be calibrated and the uncertainty of measurement shall be estimated and stated in the test report. The following parameters should be taken into account: - instrumentation errors; - - calculation errors. systematic errors associated with t
37、he method used; The total uncertainty of measurement shall not exceed 25 Oh of the magnitude of the characteristic under test. 6.6 Load to the mechanical interface All tests shall be executed with a test load equal to 1 O0 % of rated load conditions, .e. mass, position of centre of gravity, moments
38、of inertia, according to the manufacturers specification. The rated load conditions shall be specified in the test report. To characterize robots with load dependent petformances, additional optional tests can be made with the mass of rated load reduced to 10 % as indicated in table 1 or some other
39、value as specified by the manufacturer. When a pari of the measuring instrumentation is attached to the robot, its mass and position shall be considered as part of the test load. Figure 1 shows an example of test end effector with CG (centre of gravity) and TCP (tool centre point) offsets. The TCP i
40、s the measurement point (MP) during the test. The measurement point position shall be specified in the test report. 6 STD-BSI BS EN IS0 7283-ENGL 1778 Lb2qbb7 0778304 L7Li D EN IS0 9283:1998 Table 1 - Test loads Characteristics to be tested 100 % of rated load (X = mandatory) The mass of rated load
41、reduced to 10 % (O = optional) Pose accuracy and pose repeatability X O Multi-directional pose accuracy variation X O Distance accuracy and distance repeatability Position stabilization time X O Position overshoot X O Drift of pose characteristics X Exchangeability X O Path accuracy and path repeata
42、bility X O Path accuracy on reorientation X O - X - Comering deviations I X I Path velocity characteristics 7 Minimum posing time I X O Static compliance I I See clause 10 Weaving deviations 7 STD.BS1 BS EN IS0 9283-ENGL L99 m LbZYbb 0798305 O20 EN IS0 9283:1998 t Zm Figure 1 - An example of test en
43、d effector 6.7 Test velocities All pose characteristics shall be tested at the maximum velocity achievable between the specified poses, .e. with the velocity override set to 100 YO, in each case. Additional tests could be carried out at 50 % and/or 10 % of this velocity. For path characteristics, th
44、e tests shall be conducted at 100 %, 50 %, and 10 % of rated path velocity as specified by the manufacturer for each of the Characteristics tested (see table 3). Rated path velocity shall be specified in the test report. The velocity specified for each test depends on the shape and size of path. The
45、 robot shall be able to achieve this velocity over at least 50 % of the length of the test path. The related performance criteria shall be valid during this time. It shall be reported if the velocity has been specified in pose-to-pose mode or continuous path mode, if selectable. A summary of the tes
46、t velocities is given in tables 2 and 3. 8 STD-BSI BS EN IS0 9283-ENGL 1998 Lb24bb9 079830b Tb7 EN IS0 9283:1998 Characteristics to be tested Drift of pose characteristics Exchangeability O Minimum posing time I See clause 9 and table 20 Table 3 - Characteristics to be tested Path accuracy and path
47、repeatability Path accuracy on reorientation Comering deviations Path velocity characteristics Weaving deviations sst velocities for path characteristics Velocity 1 O0 % of rated path 50 % of rated path (X = mandatory) (X = mandatory) (X = mandatory) 10 % of rated path velocity velocity velocity X I
48、 X I X X I X I X X I X I X X I X I X X I X I X 6.8 Definitions of poses to be tested and paths to be followed 6.8.1 Objective This subclause describes how five suitable positions are located in a plane placed inside a cube within the working space. It also describes test paths to be followed. When r
49、obots have a range of motion along one axis, small with respect to the other, replace the cube by a rectangular parallelepiped. 9 STD-BSI BS EN IS0 9283-ENGL 2998 lb2qbb9 0796307 9T3 EN IS0 9283:1998 6.8.2 Location of the cube in the working space A single cube, the comers of which are designated C, to CS (see figure 2), is located in the working space with the following requirements fulfilled: - the cube shall be located in that portion of the working space with the greatest anticipated use; - the cube shall have the maximum v
