This International Standard describes methods of specifying and testing the following performance characteristics of manipulating industrial robots:
— unidirectional pose accuracy and pose repeat-ability;
— multi-directional pose accuracy variation;
— distance accuracy and distance repeatability;
— pose stabilization time;
— pose overshoot;
— drift of pose characteristics;
— path accuracy and path repeatability;
— cornering deviations;
— path velocity characteristics;
— minimum positioning time;
— static compliance.
This International Standard does not specify which of the above performance characteristics are to be chosen for testing a particular robot. The tests de-scribed in this International Standard are primarily intended for developing and verifying individual ro-bot specifications, but can also be used for such purposes as prototype testing, type testing or ac-ceptance testing.
This International Standard applies to all manipulating industrial robots as defined in ISO/TR 8373. However, for the purpose of this International Stan-
dard the term "robot" means manipulating industrial robot.