ISO INTERNATIONAL 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 22166-1:2021(E) ISO IS02021 IS0 22166-1:2021(E) COPYRIGHT PROTECTED DOCUMENT @ iS0 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 0111 Email: [email protected] Website: www.iso.org Published in Switzerland i @ IS0 2021 - All rights reserved IS0 22166-1:2021(E) 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 @ IS0 2021 - All rights reserved ii IS0 22166-1:2021(E) 7.2.5 Interoperation of software modules 28 7.3 Architecturalmodelforsoftwaremodules 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 @ IS0 2021 - All rights reserved IS0 22166-1:2021(E) 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 throughIsotechnicalcommittees.Eachmemberbodyinterestedinasubjectforwhichatechnica. 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 elect