Foreword
1 Scope, purpose, and exclusions
2 Normative references
3 Definitions
4 Units
5 Abbreviations and symbols
6 Coordinate systems
7 Basic robot mechanical configurations
8 Standard test conditions
9 Performance classes - path related
10 Performance criteria - path related
11 Recommended specifications
12 Testing
Annex
A - Comparison of this standard with ISO 9283 (informative)
B - Bibliography