ISO/TR 13309:1995 PDF

Name: 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
SKU: ISO/TR 13309:1995
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Manipulating industrial robots — Informative guide on test equipment and metrology methods of operation for robot performance evaluation in accordance with ISO 9283

Название (английский):

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

Статус документа:: Действующий
Формат:: Электронный (PDF)
Количество страниц:: 15
Дата публикации:: 11 мая 1995 г.
Издание:: ISO TR 13309 edition 1 version 1
ICS:: 25.040.30

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Описание (английский):

Supplies information on the state-of-the-art of test equipment operating principles. Additional information is provided that describes the applications of current test equipment technology to ISO 9283.

Abstract

Похожие стандарты

Стандарты, упомянутые в описании

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.

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.

ISO/TR 13309:1995 PDF

Abstract

Похожие стандарты

Overview

Key topics

Applications

Who should use this standard

Related standards

Технические детали

ISO 9283:1990

Manipulating industrial robots — Performance criteria and related test methods

ISO 9283:1990/Amd 1:1991

Manipulating industrial robots — Performance criteria and related test methods — Amendment 1: Guide for selec…

ISO 9946:1991

Manipulating industrial robots — Presentation of characteristics