1. Scope
2. Normative references
3. Definitions
4. Units
5. Characteristics
5.1 General
5.2 Application
5.3 Power source
5.4 Mechanical structure
5.5 Working space
5.6 Coordinate system
5.7 External dimensions and mass
5.8 Base mounting surface
5.9 Mechanical interface
5.10 Control
5.11 Task programming and program loading
5.11.1 Examples of programming methods
5.11.2 Examples of program loading means
5.12 Environment
5.13 Load
5.14 Velocity
5.15 Resolution
5.16 Performance criteria
5.17 Safety
Annex A (informative) Recommended format of presentation
for robot specifications
Annex B (informative) Description of the symbols of
performance criteria - Abstract
from ISO 9283