GB/T 12642-2001 in English

《GB/T 12642-2001工业机器人 性能规范及其试验方法》由TC159（全国自动化系统与集成标准化技术委员会）归口，主管部门为中国机械工业联合会。
本标准规定了操作型机器人下列性能指标及其测试方法。

Scope

This standard specifies the following performance indicators and test methods for manipulative robots: ---Pose accuracy and pose repeatability; ---Multi-directional pose accuracy changes; ---Distance accuracy and distance repeatability; ---Position stabilization time; ---Position overshoot; ---Pose characteristic drift; ---Interchangeability; ---Track accuracy and track repeatability; ---Reorientation track accuracy; ---Corner deviation; ---Track velocity characteristics; ---Minimum positioning time; ---Static compliance; ---Swing deviation. For the test of a specific robot, this standard does not specify which of the above performance indicators should be selected. The test items described in this standard are mainly used to research and test the indicators of a certain robot, but they can also be used for prototype test, type test or acceptance test. In order to compare the performance indicators of different robots, according to the provisions of this standard, the following parameters must be the same: the size of the test cube, test load, test speed, test track, test cycle and environmental conditions. Appendix A (standard appendix) gives the specific parameters used for comparative testing of pose characteristics and trajectory characteristics. This standard applies to all industrial robots defined in GB/T 12643. The term "robot" in this standard refers to industrial robots.