This International Standard describes methods of specifying and testing the following performance characteristics of manipulating industrial robots:- pose accuracy and pose repeatability; - multi-directional pose accuracy variation;- distance accuracy and distance repeatability;- position stabilization time;- position overshoot; - drift of pose characteristics; - exchangeability; - path accuracy and path repeatabiliby; - path accuracy on reorientation; - cornering deviations; - path velocity characteristics; - minimum posing time; - static compliance; - weaving deviations.