ISO/TR 13309:1995

Overview

ISO/TR 13309:1995 - "Manipulating industrial robots - Informative guide on test equipment and metrology methods of operation for robot performance evaluation in accordance with ISO 9283" - is a Technical Report (type 3) that surveys the state-of-the-art test equipment and metrology techniques used to evaluate robot motion performance. It explains operating principles, typical measurement capabilities, and how current test technologies apply to the performance criteria and test methods defined in ISO 9283.

Key topics

• Measurement method categories: positioning test probe, path comparison, trilateration, polar-coordinate measuring, triangulation, inertial measuring, Cartesian coordinate measuring and path drawing.
• Representative techniques within these categories:
  • Laser tracking interferometry (single and multi-laser)
  • Optical triangulation and camera-based methods
  • Ultrasonic and mechanical cable trilateration
  • Total stations and theodolites
  • Inertial measurement units (accelerometers + gyroscopes)
  • Mechanical gage and laser beam path comparison
  • Linear scale and coordinate measuring approaches
• Practical considerations and limitations:
  • Measurement volume vs. ISO 9283 test cube
  • Degrees of freedom measurable (pose vs. path vs. orientation)
  • Sampling frequency relative to robot motion dynamics
  • Test equipment accuracy, uncertainty and sensor count/coverage
  • Overshoot, restricted command paths, and measurement accessibility
• Supporting material: recommended methods mapped to ISO 9283 performance criteria (Tables 1 & 2) and annexes with examples of measuring systems/sensors, supplier addresses and bibliographic library lists.

Applications

• Robot performance evaluation: acceptance testing, factory calibration, R&D benchmarking and comparative performance studies in accordance with ISO 9283.
• Quality assurance & certification: verifying positioning accuracy, repeatability, path tracking and dynamic behavior prior to deployment.
• Metrology and system integration: selecting appropriate test equipment for specific measurement volumes, sampling rates and degrees of freedom.
• Research & development: informing sensor selection and measurement architectures for advanced robot control and accuracy improvement.

Who should use this standard

• Robot manufacturers and integrators
• Calibration and test laboratories
• Metrologists and QA engineers working with industrial manipulators
• Standards bodies and test-equipment vendors seeking alignment with ISO 9283

Related standards

• ISO 9283:1990 - Manipulating industrial robots - Performance criteria and related test methods (primary reference)
• ISO 9946 - referenced as related in the Technical Report

For practical testing, ISO/TR 13309 advises understanding the robot’s expected performance level and discussing specific measurement limitations with equipment manufacturers when selecting methods and instruments.