ISO 9283 testing

Hi everyone,

Has anyone here performed ISO 9283 performance tests on the Annin Robotics AR4 robot, particularly for pose accuracy, pose repeatability, path accuracy, or path repeatability?

I’m currently planning an experimental evaluation of the AR4 according to ISO 9283 and would be interested to know if anyone has already conducted similar tests.

If so, I’d really appreciate hearing about your experience, especially regarding the measurement equipment, test setup, test positions/trajectories, and methodology you used.

I’m also interested in any papers, reports, datasets, videos, or other references involving ISO 9283 testing.

video for reference

Thanks!