Description
Manufacturers of industrial robots rarely specify their products with reliable parameters for position accuracy and repeatability. Often the specifications only refer to individual axes or provide too little information about the distribution of the measured values. The ISO 9283:1998 “Manipulating industrial robots – Performance criteria and related test methods” provides instructions for the measurement of performance criteria, but is usually not applied. This paper introduces ISO 9283 with a focus on accuracy, repeatability and position stabilization properties. The standard is illustrated by measurements on a cartesian precision robot of the type Autoplace 411 (Unitechnologies SA). Based on the experience and the measurement, the authors discuss the advantages and disadvantages of the classification according to ISO 9283. Finally, we present proposals on how performance criteria can be defined more appropriately.
