EN ISO 9283:1998

SLOVENSKI STANDARD
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Manipulating industrial robots - Performance criteria and related test methods (ISO
9283:1998)
Industrieroboter - Leistungskenngrößen und zugehörige Prüfmethoden (ISO 9283:1998)
Robots manipulateurs industriels - Criteres de performance et méthodes d'essai
correspondantes (ISO 9283:1998)
Ta slovenski standard je istoveten z: EN ISO 9283:1998
ICS:
25.040.30 Industrijski roboti. Industrial robots.
Manipulatorji Manipulators
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

INTERNATIONAL ISO
STANDARD 9283
Second edition
1998-04-01
Manipulating industrial robots -
Performance criteria and related test
methods
- Critkes de perforrnance et mkthodes
Robots manipula teurs industriels
d’essai correspondantes
Reference number
ISO 9283: 1998(E)
ISO 9283:1998(E)
Contents
Page
1 Scope . . . . 1
...............
2 Normative references 2
..................................................................
3 Definitions 2
...................................................................................
4 Units 2
...........................................................................................
5 Abbreviations and Symbols . 3
.
51 Basic a bbreviations . 3
52 . Quantities . . 3
.................................................
53 . I ndices . . 4
....................................
Other Symbols . . . 4
54 .
Performance testing conditions . 4
. Robot mounting . . . 4
62 . Conditions Prior to testing . . 4
63 . Operating and environmental conditions . 5
64 . Displacement measurement principles . 5
65 . I nstrumentation . . . . 6
66 . Load to the mechanical interface . 6
67 . Test velocities . . . 8
0 ISO 1998
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ii
ISO 9283: 1998(E)
@ ISO
. Definitions of poses to be tested and paths to be followed . 9
69 . Number of cycles . 15
........................................................................... 15
6.10 Test procedure
................................. 16
6.11 Characteristics to be tested - Applications
7 Pose characteristics . . . 16
71 . General description
................................ .................................... 16
72 .
Pose accuracy and pose repeatability . 17
.
73 . Distance accuracy and repeatability
........................................... 24
74 . Position stabilization time .
75 . Position overshoot . 30
76 . Drift of pose characteristics . 31
77 . Exchangeability . 34
8 Path characteristics . . 35
81 . General . 35
82 . Path accuracy . . 36
83 . Path repeatability . 37
84 . Path accuracy on reorientation . 39
85 . Cornering deviations . 40
86 . Path velocity characteristics . 42
9 Minimum posing time .
10 Static compliance . 46
11 Application specific Performance criteria .
11.1 Weaving deviations . .
12 Test report .
Annex
A (normative) Parameters for comparison tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B (informative) Guide for selection of tests for typical applications . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .*. 56
C (informative) Example of a test report

@ ISO
ISO 9283:1998(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 through ISO technical committees. Esch member
body interested in a subject for which a technical 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 electrotechnical standardization.
Draft International Standards adopted by the technical committees are circulated to the
member bodies for approval before their acceptance as International Standards by the
ISO Council. In accordance with ISOAEC Directives they are approved if two-thirds of
the votes cast by the P-members of the technical committee or sub-committee are in
favour, and not more than one-quarter of the total number of votes cast are negative.
International Standard ISO 9283 was prepared by Technical Committee ISO/TC 184,
Industrial automation Systems and integration, Subcommittee SC 2, Robots for
manufacturing environment.
This second edition cancels and replaces the first edition (ISO 9283:1990 and
Amendment 1 :i 991), of which it constitutes a technical revision.
Annex A forms an integral part of this International Standard. Annexes B and C are for
information only.
iv
ISO 9283: 1998(E)
Introduction
ISO 9283 is part of a series of International Standards dealing with manipulating
industrial robots. Other International Standards cover such topics as safety, general
characteristics, coordinate Systems, terminology, and mechanical interfaces. lt is noted
that these International Standards are interrelated and also related to other
International Standards.
ISO 9283 is intended to facilitate understanding between users and manufacturers of
robots and robot Systems. lt defines the important Performance characteristics,
describes how they shall be specified and recommends how they should be tested. An
example of how the test results should be reported is included in Annex C of this
International Standard. The characteristics for which test methods are given in this
International Standard are those considered to affect robot Performance significantly.
lt is intended that the user of this International Standard selects which Performance
characteristics are to be tested, in accordance with his own specific requirements.
The tests described in this International Standard may be applied in whole or in Part,
depending upon the robot type and requirements.
The core patt of ISO 9283 deals with testing of individual characteristics. Specific
Parameters for comparison testing is dealt with in Annex A (normative) for
pose-to-pose characteristics and path characteristics.
Annex B (informative) of this International Standard provides guidance for selection of
tests for typical applications.
Annex C (informative) of this International Standard provides a recommended format
of the test report including the minimum required information and the summary of the
test results.
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ISO 9283: 1998(E)
INTERNATIONAL STANDARD 0 ISO
Manipulating industrial robots - Performance criteria and related test
methods
1 Scope
This International 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;
Position stabilization time;
Position overshoot;
drift of pose characteristics;
exchangeability;
path accuracy and path repeatability;
path accuracy on reorientation
cornering deviations;
path velocity characteristics;
minimum posing time;
static compliance;
weaving deviations.
This International Standard does not specify which of the above Performance characteristics are to be Chosen for
testing a patticular robot. The tests described in this International Standard are primarily intended for developing
and verifying individual robot specifications, but tan also be used for such purposes as prototype testing, type
testing or acceptance testing.
To compare Performance characteristics between different robots, as defined in this International Standard, the
following Parameters have to be the Same: test cube sizes, test loads, test velocities, test paths, test cycles,
environmental conditions.
Annex A provides Parameters specific for comparison testing of pose-to-pose characteristics and path
characteristics.
This International Standard applies to all manipulating industrial robots as defined in ISO 8373. However, for the
purpose of this International Standard the term “robot” means manipulating industrial robot.

0 ISO
ISO 9283: 1998(E)
2 Normative references
The following Standards contain provisions which, through reference in this text, constitute provisions of this
International Standard. At the time of publication, the editions indicated were valid. All International Standards are
subject to revision, and Parties to agreements based on this International Standard are encouraged to investigate
the possibility of applying the most recent editions of the Standards indicated below. Members of IEC and ISO
maintain registers of currently valid International Standards.
ISO 8373: 1994, Manipulating industrial robots - Vocabulary.
ISO 9787:1990, Manipulating industrial robots - Coordinate Systems and motions.
ISO 9946:1991, Manipulating industrial robots - Presentation of characteristics.
3 Definitions
For the purpose of this International Standard, the definitions given in ISO 8373 and the following definitions
aPPlY=
3.1 cluster: Set of measured Points used to calculate the accuracy and the repeatability characteristics
(example shown diagrammatically in figure 8).
3.2 barycentre: For a cluster of n Points, defined by their coordinates (xi - yi - zi), the barycentre of that
- - -
cluster of Points is the Point whose coordinates are the mean values X, y , anu’ z calculated by formulae given in
7.2.1.
3.3 measuring dwell: Delay at the measurement Point Prior Po recording data (e.g. time between control Signal
“in position” and the “Start measuring” of the measuring device).
3.4 measuring time: Time elapsed when measurements are recorded.
4 Units
Unless otherwise stated, all dimensions are as follows:
- length in millimetres .
(mm)
- angle in radians or degrees .
(rad) or (“)
- time in seconds . S
( >
- mass in kilograms .
(kg)
- forte in newtons .
N
velocity in metres per second.
- . (m/s),
degrees per second
............................... (‘1s ) or
radians per second . (radls)

ISO 9283:1998(E)
0 ISO
5 Abbreviations and Symbols
For the purposes of this International Standard, the following abbreviations and Symbols apply.
5.1 Basic abbreviations
A Accu racy
Repeatability
R
V Variation
Fluctuation
F
Drift
d
P Pose
D Distance
T Path (trajectory)
V Velocity
Weaving
W
E Exchangeability
5.2 Quantities
Orientation (angular components) about the x, y, and z-axis
a, b, c
Linear coordinates along the x-, y-, z-axis
x y, z
n Number of measurement cycles
Number of measurement Points along the path
m
Standard deviation
S
Distance between two Points
D
I Distance between the attained pose and the barycentre of the attained poses
V Path velocity
AP Pose accuracy
Pose repeatability
RP
Multi-directional pose accuracy Variation
vAP
Distance accuracy
AD
Distance repeatability
RD
t Position stabilization time
ov Position overshoot
dAP Drift of pose accuracy
dßP Drift of pose repeatability
Pat h accu racy
AT
RT Path repeatability
CR Cornering round-off error
CO Co
...