Historical
ISO 9787:1999
Manipulating industrial robots -- Coordinate systems and motion nomenclatures
This International Standard defines and specifies robot coordinate systems. It also provides a nomenclature including notation for the basic robot motions. It is intended to aid in robot alignment, testing, and programming.
This International Standard applies to all manipulating industrial robots as defined in ISO 8373.
In cases where there is no risk of confusion, nomenclatures or subscripts other than those specified in this International Standard may be used.
CONTENT PROVIDER
International Organization for Standardization [iso]
International Organization for Standardization [iso]