prEN ISO 8373

SLOVENSKI STANDARD
01-februar-2011
Manipulirni industrijski roboti - Slovar (ISO/DIS 8373:2010)
Manipulating industrial robots - Vocabulary (ISO/DIS 8373:2010)
Robots manipulateurs industriels - Vocabulaire (ISO/DIS 8373:2010)
Ta slovenski standard je istoveten z: prEN ISO 8373
ICS:
01.040.25 Izdelavna tehnika (Slovarji) Manufacturing engineering
(Vocabularies)
25.040.30 Industrijski roboti. Industrial robots.
Manipulatorji Manipulators
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

EUROPEAN STANDARD
DRAFT
NORME EUROPÉENNE
EUROPÄISCHE NORM
December 2010
ICS 01.040.25; 25.040.30 Will supersede EN ISO 8373:1996
English Version
Manipulating industrial robots - Vocabulary (ISO/DIS 8373:2010)
Robots manipulateurs industriels - Vocabulaire (ISO/DIS
8373:2010)
This draft European Standard is submitted to CEN members for parallel enquiry. It has been drawn up by the Technical Committee
CEN/TC 310.
If this draft becomes a European Standard, CEN members are bound to comply with the CEN/CENELEC Internal Regulations which
stipulate the conditions for giving this European Standard the status of a national standard without any alteration.

This draft European Standard was established by CEN in three official versions (English, French, German). A version in any other language
made by translation under the responsibility of a CEN member into its own language and notified to the CEN-CENELEC Management
Centre has the same status as the official versions.

CEN members are the national standards bodies of Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech Republic, Denmark, Estonia,
Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland,
Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland and United Kingdom.

Recipients of this draft are invited to submit, with their comments, notification of any relevant patent rights of which they are aware and to
provide supporting documentation.

Warning : This document is not a European Standard. It is distributed for review and comments. It is subject to change without notice and
shall not be referred to as a European Standard.

EUROPEAN COMMITTEE FOR STANDARDIZATION
COMITÉ EUROPÉEN DE NORMALISATION

EUROPÄISCHES KOMITEE FÜR NORMUNG

Management Centre: Avenue Marnix 17, B-1000 Brussels
© 2010 CEN All rights of exploitation in any form and by any means reserved Ref. No. prEN ISO 8373:2010: E
worldwide for CEN national Members.

Contents Page
Foreword .3

Foreword
This document (prEN ISO 8373:2010) has been prepared by Technical Committee ISO/TC 93 "Starch
(including derivatives and by-products)" in collaboration with Technical Committee CEN/TC 310 “Advanced
automation technologies and their applications” the secretariat of which is held by BSI.
This document is currently submitted to the parallel Enquiry.
This document will supersede EN ISO 8373:1996.
Endorsement notice
The text of ISO/DIS 8373:2010 has been approved by CEN as a prEN ISO 8373:2010 without any
modification.
DRAFT INTERNATIONAL STANDARD ISO/DIS 8373
ISO/TC 184/SC 2 Secretariat: SIS
Voting begins on Voting terminates on

2010-12-09 2011-05-09
INTERNATIONAL ORGANIZATION FOR STANDARDIZATION  •  МЕЖДУНАРОДНАЯ ОРГАНИЗАЦИЯ ПО СТАНДАРТИЗАЦИИ  •  ORGANISATION INTERNATIONALE DE NORMALISATION

Manipulating industrial robots — Vocabulary
Robots manipulateurs industriels — Vocabulaire
(Revision of first edition ISO 8373:1994, of ISO 8373:1994/Cor.1:1996 and of ISO 8373:1994/Amd.1:1996)
ICS 01.040.25; 25.040.30
To expedite distribution, this document is circulated as received from the committee
secretariat. ISO Central Secretariat work of editing and text composition will be undertaken at
publication stage.
Pour accélérer la distribution, le présent document est distribué tel qu'il est parvenu du
secrétariat du comité. Le travail de rédaction et de composition de texte sera effectué au
Secrétariat central de l'ISO au stade de publication.

THIS DOCUMENT IS A DRAFT CIRCULATED FOR COMMENT AND APPROVAL. IT IS THEREFORE SUBJECT TO CHANGE AND MAY NOT BE
REFERRED TO AS AN INTERNATIONAL STANDARD UNTIL PUBLISHED AS SUCH.
IN ADDITION TO THEIR EVALUATION AS BEING ACCEPTABLE FOR INDUSTRIAL, TECHNOLOGICAL, COMMERCIAL AND USER PURPOSES,
DRAFT INTERNATIONAL STANDARDS MAY ON OCCASION HAVE TO BE CONSIDERED IN THE LIGHT OF THEIR POTENTIAL TO BECOME
STANDARDS TO WHICH REFERENCE MAY BE MADE IN NATIONAL REGULATIONS.
RECIPIENTS OF THIS DRAFT ARE INVITED TO SUBMIT, WITH THEIR COMMENTS, NOTIFICATION OF ANY RELEVANT PATENT RIGHTS OF WHICH
THEY ARE AWARE AND TO PROVIDE SUPPORTING DOCUMENTATION.
©  International Organization for Standardization, 2010

ISO/DIS 8373
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ii © ISO 2010 – All rights reserved

ISO/DIS 8373
Contents Page
Foreword .iv
Introduction.v
1 Scope.1
2 General terms .1
3 Mechanical structure.4
4 Geometry and kinematics.7
5 Programming and control.10
6 Performance.13
7 Sensing and autonomy.16
Annex A (informative) Examples of types of mechanical structure .18
Bibliography.21
Alphabetic Index.22

ISO/DIS 8373
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.
International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 2.
The main task of technical committees is to prepare International Standards. Draft International Standards
adopted by the technical committees are circulated to the member bodies for voting. Publication as an
International Standard requires approval by at least 75 % of the member bodies casting a vote.
Attention is drawn to the possibility that some of the elements of this document may be the subject of patent
rights. ISO shall not be held responsible for identifying any or all such patent rights.
ISO 8373 was prepared by Technical Committee ISO/TC 184, Automation systems and integration,
Subcommittee SC 2, Robots and robotic devices.
This second edition replaces ISO 8373:1994, and it has been revised and expanded to include both industrial
robot and service robot.
Annex A of this International Standard is for information only.
iv © ISO 2010 – All rights reserved

ISO/DIS 8373
Introduction
This document deals with vocabulary for robots (as defined in 2.6) operating in both industrial and non-
industrial environments. It is not a dictionary but rather a list of terms most commonly used. These terms are
briefly defined or explained. They are grouped into clauses by main topics of robotics.
ISO 8373 is one of a series of International Standards dealing with robots and robotic devices.
DRAFT INTERNATIONAL STANDARD ISO/DIS 8373

Robots and robotic devices — Vocabulary
1 Scope
This International Standard defines terms relevant to robots and robotic devices operated in industrial and
non-industrial environments.
2 General terms
2.1
manipulator
machine, the mechanism of which usually consists of a series of segments jointed or sliding relative to one
another, for the purpose of grasping and/or moving objects (pieces or tools) usually in several degrees of
freedom (4.4)
NOTE 1 It may be controlled by an operator (2.16), a programmable electronic controller, or any logic system (for
example cam device, wired).
NOTE 2 It does not include an end effector (3.11).
2.2
autonomy
ability to control movement and communication to perform intended tasks without human intervention
2.3
physical alteration
alteration of the mechanical system
NOTE Does not include storage media, ROMs, etc.
2.4
reprogrammable
designed so that the programmed motions or auxiliary functions may be changed without physical alteration
(2.3)
2.5
multipurpose
capable of being adapted to a different application with physical alteration (2.3)
2.6
robot
actuated mechanism programmable in more than one axis (4.3) with a degree of autonomy (2.2), moving
within its environment, to perform intended tasks
NOTE It includes the control system (2.7) and communication interface.
EXAMPLE Examples of robot include industrial robot (2.9) and service robot (2.10).
ISO/DIS 8373
2.7
control system
set of logic control and power functions which allows to monitor and control the mechanical structure of the
robot (2.6) and to communicate with the environment (equipment and users)
2.8
robotic device
actuated mechanism fulfilling the characteristics of industrial robot (2.9) or service robot (2.10), but lacking
either number of programmable axes (4.3) or the degree of autonomy (2.2)
EXAMPLE Examples include power assist device, tele-operated device, and two-axis industrial manipulator (2.1).
2.9
industrial robot
manipulating industrial robot
automatically controlled, reprogrammable (2.4), multipurpose (2.5) manipulator (2.1), programmable in
three or more axes (4.3), which may be either fixed in place or mobile for use in industrial automation
applications
NOTE 1 It includes:
⎯ the manipulator (2.1) including actuators (3.1)
⎯ the controller including teach pendant (5.8), and any communication interface (hardware and software).
NOTE 2 This includes any additional axes which are controlled by the robot controller.
2.10
service robot
robot (2.6) that performs useful tasks for humans, society or equipment excluding industrial automation
applications
NOTE 1 The distinguishing factor between industrial robot (2.9) and service robot (2.10) is the task and intention of
the action.
NOTE 2 In
...