ISO INTERNATIONAL STANDARD 9283 Second edition 1998-04-01 Manipulating industrial robots : Performance criteria and related test methods Robots manipulateurs industriels - Criteres de performance et methodes d'essaicorrespondantes ISO Reference number ISO9283:1998(E) Copyright Intermational Organization for Standardization rovided by IHS censewithIs rmitted without license from IHS Not for Resale ISO 9283:1998(E) Contents Page 1 Scope 2 Normative references 2 3 Definitions ... 2 4 Units 2 5 Abbreviations and symbols 3 5.1 Basic abbreviations. 3 5.2 Quantities 3 5.3 Indices 4 5.4 Other symbols 4 6 Performance testing conditions 4 6.1 Robot mounting 4 6.2 Conditions prior to testing 4 6.3 Operating and environmental conditions 5 6.4 Displacement measurement principles 5 6.5 Instrumentation . 6 6.6 Load to the mechanical interface 6 6.7 Test velocities 8 @ISO1998 Ail rights reserved.Unless otherwise specified,no part of this publication may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from the publisher. InternationalOrganizationforStandardization Casepostale56.CH-1211Geneve20.Switzerland Internet [email protected] X.400 C=ch; a=400net; p=iso; 0=isocs; S=central Printed in Switzerland ii Copyright Intermational Organization for Standardization No r Not for Resale ISO9283:1998(E) @ISO 6.8 Definitions of poses to be tested and paths to be followed .... 9 6.9 Number of cycles 15 6.10 Test procedure 15 6.11 Characteristics to be tested - Applications 16 7 Pose characteristics 16 7.1 General description 16 7.2 Pose accuracy and pose repeatability 17 7.3 Distance accuracy and repeatability 24 7.4 Position stabilization time 29 7.5 Position overshoot 30 7.6 Drift of pose characteristics 31 7.7 Exchangeability 34 8 Path characteristics 35 8.1 General , 35 8.2 Path accuracy 36 8.3 Path repeatability 37 8.4 Path accuracy on reorientation 39 8.5 Cornering deviations 40 8.6 Path velocity characteristics 42 9 Minimum posing time 44 10 Static compliance 46 46 11 Application specific performance criteria 11.1 Weaving deviations 46 12 Test report 48 Annex A (normative) Parameters for comparison tests 49 B (informative) Guide for selection of tests for typical applications .... 54 C (informative) Example of a test report 56 ii Not for Resale