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To evaluate the performance characteristics of the developed dual-arm robot, the evaluation methods of motion characteristics of pose and path of dual-arm robot are studied and the results of performance evaluation are given. The evaluation method and item of motion performance such as payload, repeatability, maximum speed and position accuracy are studied and described. Because of the special provisions of repeatability of dual-arm robot are not given in ISO 9283, the evaluations of it are performed in based on the provisions of repeatability of single-arm robot. Generally, although there are no specifications of the position accuracy of robot movement, in this study the developed dual-arm robot is tested by using the provision of distance precision of ISO. Related to this, there are several problems of measurement of moving distance and definition of robot coordinate system. The evaluation method of payload is performed by measuring of the deflection of static payload because there is no special provision of payload in ISO. As there are no special provisions related to dual-arm robot in ISO 9283, the establishment of new provision of dual-arm robot is needed in near future.

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