scope:

This standard describes methods of specifying and testing the following performance characteristics of manipulating industrial robots; - pose accuracy and pose repeatability; - multi-directional pose accuracy variation; - distance accuracy and distance repeatability; - pose stabilization time; - pose overshoot; - drift of pose characteristics;- exchangeability; - path accuracy and path repeatability;- path accuracy on reorientation; - cornering deviations; - path velocity characteristics; - minimum positioning time; - static compliance;- weaving deviations.