NATIONAL FOREWORD

This Indian Standard (First Revision) which is identical with ISO 9787 : 2013 ‘Robots and robotic devices — Coordinate systems and motion nomenclatures’ issued by the International Organization for Standardization (ISO) was adopted by the Bureau of Indian Standards on the recommendation of the Industrial and Production Automation Systems and Robotics Sectional Committee and approval of the Production and General Engineering Division Council.

This standard was first published in 1999. This revision has been taken up to align with the latest edition of ISO Standard. In particular, the scope has been expanded to include robots operating in both industrial and non-industrial environments.

The text of ISO Standard has been approved as suitable for publication as an Indian Standard without deviations. Certain terminology and conventions are however not identical to those used in Indian Standards. Attention is particularly drawn to the following:

a) Wherever the words ‘International Standard’ appear referring to this standard, they should be read as ‘Indian Standard’.

b) Comma (,) has been used as a decimal marker while in Indian Standards, the current practice is to use a point (.) as the decimal marker.