BS 7228-4.1(1991) : 1991

Committees responsible
National foreword
Method
1. Scope
2. Normative references
3. Definitions
4. Units
5. Abbreviations and symbols
6. Performance testing conditions
7. Pose characteristics
8. Path characteristics
9. Minimum positioning time
10. Static compliance
11. Test report
Annex
A. Example of a test report and tables for test results
Tables
1. Test loads
2. Test velocities for pose characteristics
3. Test velocities for path characteristics
4. Poses to be used for pose characteristics
5. Number of cycles
6. Summary of test conditions for unidirectional pose
    accuracy
7. Summary of test conditions for unidirectional pose
    repeatability
8. Summary of test conditions for multi-directional
    pose accuracy variation
9. Summary of test conditions for distance accuracy
10. Summary of test conditions for distance repeatability
11. Summary of test conditions for pose stabilization
    time
12. Summary of test conditions for pose overshoot
13. Summary of test conditions for drift of pose
    characteristics
14. Summary of test conditions for path accuracy
15. Summary of test conditions for cornering deviations
16. Summary of test conditions for path velocity
    characteristics
17. Summary of test conditions for minimum positioning
    time
Figures
1. Cube within the working space
2. Poses to be used
3. Definition of planes for location of test path
4. Example showing a rectangular path
5. Relation between command and attained pose
6. Unidirectional positioning accuracy and
    repeatability
7. Unidirectional positioning accuracy and
    repeatability
8. Illustration of possible cycles
9. Multi-directional pose accuracy variation
10. Illustration of the cycle
11. Distance accuracy
12. Illustration of the cycle
13. Stabilization time and pose overshoot
14. Illustration of the cycle
15. Example of graph for drift of pose characteristics
16. Path accuracy and path repeatability for a command
    linear path
17. Path accuracy and path repeatability for a command
    circular path
18. Cornering overshoot and cornering round-off error
19. Path velocity characteristics
20. Illustration of the cycle

Gives methods of specifying and testing the following performance characteristics of manipulating industrial robots. Unidirectional pose accuracy, 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, and static compliance. Does not specify which of the above performance characteristics are to be chosen for testing a particular robot.