ISO/TR 13309:1995 産業用ロボットの操作— ISO9283に準拠したロボット性能評価のための試験装置および計測操作方法に関する有益なガイド | ページ 2

2. パフォーマンス測定方法の主なカテゴリ

ISO 9283 に従ってロボットの性能を評価するために使用されるいくつかの方法があります。これらの方法は次のように分類されます。

• 1.位置決めテストプローブの方法
• 2.パス比較方法
• 3.三辺測量法
• 4.極座標測定方法
• 5.三角測量法
• 6.慣性測定法
• 7.座標測定方法
• 8.パスの描画方法

これらの方法の簡単な説明は、セクション 4 に記載されています。これらのシステムの詳細な説明は、ライブラリ リスト (付録 C) で提供されているドキュメントに記載されています。

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 in 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 main task of ISO technical committees is to prepare International Standards. In exceptional circumstances a technical committee or sub-committee may propose the publication of Technical Report of one of following types:

-type 1, when the required support cannot be obtained for the publication of an International Standard, despite repeated efforts;

- type 2, when the subject is still under technical development or where for any other reason there is the future but not immediate possibility of an agreement on an international Standard;

- type 3, when a technical committee or sub-committee has collected data of a different kind from that which is normally published as an International Standard ("state-of-the-art", for example).

Technical Reports of types 1 and 2 are subject to review within three years of publication, to decide whether they can be transformed into International Standards. Technical Reports of type 3 do not necessarily have to be reviewed until the data they provide are considered to be no longer valid or useful.

ISO/TR 13309, which is a Technical Report of type 3, was prepared by Working Group 2 - Performance criteria and related testing methods - of ISO/ТС 184/SC 2 - Robots for manufacturing environment.

This document is being published in the form of a Technical Report because it is intended to provide an overview on technically feasible metrology methods and the current state-of-the-art of test equipment when evaluating robot motion performances in accordance with ISO 9283:1990 - Manipulating industrial robots - Performance criteria and related test methods.

Introduction

The International Standards ISO 9283 and ISO 9946 were published in 1990 and 1991 in order to meet the needs of industries. For the purpose of supplementing these standards some amendments are being investigated for real applications.

It is important to clarify the kind and performance level of existing measurement systems applicable to robots in relation to ISO 9283 and establishing additional standards or reports.

This Technical Report contains an attempt to classify the measurement techniques and methods applicable to the robot characteristics testing, and describes the principles of operation and accuracies of the current state-of-the-art, and as much as possible, currently available measurement systems.

1. Scope

This report supplies information on the state-of-the-art of test equipment operating principles. Additional information is provided that describes the applications of current test equipment technology to ISO 9283.

Annex С

Library List