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Table 1 ISO industrial robots performance criteria (ISO 1998)

From: An optimization technique for identifying robot manipulator parameters under uncertainty

Performance criteria

Pose accuracy and pose repeatability

Path accuracy and path repeatability

Multi-directional pose accuracy variation

Path accuracy on reorientation

Distance accuracy and distance repeatability

Cornering deviations

Position stabilization time

Path velocity characteristics

Position overshoot

Minimum posing time

Drift of pose characteristics

Static compliance

Exchangeability

Weaving deviations