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.<\/p>\n
The document is targeted at the following user groups:<\/p>\n
modular service robot framework developers who specify performance frameworks in an unambiguous way;<\/p>\n<\/li>\n
module designers and\/or manufacturers who supply end users or robot integrators;<\/p>\n<\/li>\n
service robot integrators who choose applicable modules for building a modular system.<\/p>\n<\/li>\n<\/ul>\n
This document includes guidelines on how to apply existing safety and security standards to service robot modules.<\/p>\n
This document is not a safety standard.<\/p>\n
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.<\/p>\n
| PDF Pages<\/th>\n | PDF Title<\/th>\n<\/tr>\n | ||||||
|---|---|---|---|---|---|---|---|
| 2<\/td>\n | undefined <\/td>\n<\/tr>\n | ||||||
| 7<\/td>\n | Foreword <\/td>\n<\/tr>\n | ||||||
| 8<\/td>\n | Introduction <\/td>\n<\/tr>\n | ||||||
| 9<\/td>\n | 1 Scope 2 Normative references <\/td>\n<\/tr>\n | ||||||
| 10<\/td>\n | 3 Terms and definitions 3.1 General terms <\/td>\n<\/tr>\n | ||||||
| 11<\/td>\n | 3.2 Terms related to component <\/td>\n<\/tr>\n | ||||||
| 12<\/td>\n | 3.3 Terms related to module <\/td>\n<\/tr>\n | ||||||
| 14<\/td>\n | 3.4 Terms for classification of modules <\/td>\n<\/tr>\n | ||||||
| 15<\/td>\n | 3.5 Characterization of modules regarding principal function 4 General provisions 4.1 General <\/td>\n<\/tr>\n | ||||||
| 16<\/td>\n | 4.2 Generic principles of modularity 4.2.1 General 4.2.2 Composability 4.2.3 Integrability 4.2.4 Interoperability 4.2.5 Module granularity 4.2.6 Platform independence 4.2.7 Openness <\/td>\n<\/tr>\n | ||||||
| 17<\/td>\n | 4.2.8 Reusability 4.2.9 Safety 4.2.10 Security 4.3 Abstraction <\/td>\n<\/tr>\n | ||||||
| 18<\/td>\n | 4.4 Electrical interfaces and communication protocols <\/td>\n<\/tr>\n | ||||||
| 19<\/td>\n | 4.5 Interchangeability <\/td>\n<\/tr>\n | ||||||
| 20<\/td>\n | 4.6 Module properties 4.6.1 General 4.6.2 Module identification 4.7 Simulation <\/td>\n<\/tr>\n | ||||||
| 21<\/td>\n | 4.8 Data types for interoperability 5 Provisions for safety and security 5.1 General <\/td>\n<\/tr>\n | ||||||
| 23<\/td>\n | 5.2 Robot system level safety <\/td>\n<\/tr>\n | ||||||
| 24<\/td>\n | 5.3 Module level safety <\/td>\n<\/tr>\n | ||||||
| 26<\/td>\n | 5.4 General aspects of security <\/td>\n<\/tr>\n | ||||||
| 27<\/td>\n | 5.5 Steps to design security into a module 5.6 Physical security of modules 5.7 Cyber security of modules <\/td>\n<\/tr>\n | ||||||
| 28<\/td>\n | 6 Hardware aspects in module design 6.1 General <\/td>\n<\/tr>\n | ||||||
| 29<\/td>\n | 6.2 Requirements and guidance for hardware aspects of modules 6.2.1 Mechanical interfaces <\/td>\n<\/tr>\n | ||||||
| 32<\/td>\n | 6.2.2 Interfacing for power supply 6.2.3 Other aspects for module description <\/td>\n<\/tr>\n | ||||||
| 33<\/td>\n | 7 Software aspects in module design 7.1 General 7.2 Information model 7.2.1 General <\/td>\n<\/tr>\n | ||||||
| 34<\/td>\n | 7.2.2 Model for exchange of information among modules 7.2.3 Model for access to properties and its access <\/td>\n<\/tr>\n | ||||||
| 35<\/td>\n | 7.2.4 Model for error handling and recovering <\/td>\n<\/tr>\n | ||||||
| 36<\/td>\n | 7.2.5 Interoperation of software modules <\/td>\n<\/tr>\n | ||||||
| 37<\/td>\n | 7.3 Architectural model for software modules 7.3.1 General <\/td>\n<\/tr>\n | ||||||
| 39<\/td>\n | 7.3.2 Requirements for software modules <\/td>\n<\/tr>\n | ||||||
| 40<\/td>\n | 7.4 Safety\/Security-related requirements for modules with software aspects 7.4.1 General <\/td>\n<\/tr>\n | ||||||
| 41<\/td>\n | 7.4.2 Interaction with safety\/security manager modules 8 Information for use 8.1 General <\/td>\n<\/tr>\n | ||||||
| 42<\/td>\n | 8.2 Markings or Indications <\/td>\n<\/tr>\n | ||||||
| 43<\/td>\n | 8.3 Information for users <\/td>\n<\/tr>\n | ||||||
| 44<\/td>\n | 8.4 Information for service <\/td>\n<\/tr>\n | ||||||
| 45<\/td>\n | Annex A (informative) Robot module template <\/td>\n<\/tr>\n | ||||||
| 47<\/td>\n | Annex B (informative) Robot module examples <\/td>\n<\/tr>\n | ||||||
| 58<\/td>\n | Annex C (informative) Use case examples of modularity for service robots <\/td>\n<\/tr>\n | ||||||
| 70<\/td>\n | Annex D (informative) Guidance for testing robot modules <\/td>\n<\/tr>\n | ||||||
| 75<\/td>\n | Bibliography <\/td>\n<\/tr>\n<\/table>\n","protected":false},"excerpt":{"rendered":" Robotics. Modularity for service robots – General requirements<\/b><\/p>\n |