Errors and Corrections of Robotics Standard ANSI/RIA R15.05-1-1990: Industrial Robots and Robot Systems Point to Point and Static Performance Characteristics—Evaluation

The ANSI/RIA R15.05-1-1990 as an industrial robotics standard covers the point-to-point and static performance characteristics. This standard introduces many important concepts for carrying out performance test including standard test plane, standard test path, and working space center point. Working space center point plays a very important role in this standard. Defining a wrong working space center point will in turn define a wrong standard test plane, a wrong standard test path, and wrong test results. Eight mistakes related to working space center point and one conflict definition have been found and corrected in this standard. This will help to avoid the confusion existing in the existing standard that is not widely used. Efforts have been made to improve this standard by correcting certain errors and conflict definitions so that the standard can be used widely.