Conflict definitions and mistakes in American industrial robotics standard for static performance evaluation

The ANSI/RIA R15.05‐1‐1990 is an American national industrial robotics standard that covers methods for evaluating the point‐to‐point and static performance of industrial robots. This standard introduces many important concepts for carrying out performance tests. These concepts include standard test plane, standard test path, and working space center point. Eight mistakes and two conflict definitions related to working space center point have been identified and corrected in this paper. Most of the mistakes are definition mistakes related to the base coordinate system, working space center point, standard reference plane, and standard test plane. Mistakes also result from the confusion between the reference plane and the test plane.