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ISO 9787:2013 Robots and robotic devices - Coordinate systems and motion nomenclatures
standard by International Organization for Standardization, 04/01/2013
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Full Description
ISO 9787:2013 defines and specifies robot coordinate systems. It also provides nomenclature, including notations, for the basic robot motions. It is intended to aid in robot alignment, testing, and programming.
ISO 9787:2013 applies to all robots and robotic devices as defined in ISO 8373.