## 1 Introduction  
The most important factors in choosing the right robot are its accuracy and repeatability. Selecting a robot suitable for performing the envisioned task requires giving thought to all working properties of the robot, covering the entire range of its deployment. Path accuracy and path repeatability are important indicators of the accuracy of industrial robots. Errors that lead to poor positioning accuracy can be divided into two categories: geometric and non-geometric errors. Geometrical errors are most affected by a lack of calibration of the joint's position, arm length, angular errors, and thermal deformations [1]. A further issue is the economic aspect of the robot used. At the same time, it would be appropriate, in addition to economic indicators, to take into account other reasons for choosing a robot, for example, on the basis of a comprehensive comparison of multi-criteria decision making [2]. Small firms lack the capital to procure a new, fully functioning robot to be safely deployed in a robotic application. That is why small enterprises are often indirectly forced to purchase an already-deployed robot, which necessitates its prior complete restructuring [3]. The overall condition of the robot can be determined by measuring its working properties, which should then be evaluated in view of the suitability of the robot's redeployment. The results of such an evaluation should facilitate the decision on the fitness of the robot to be redeployed, whether it has any speed constraints, whether such constraints should be introduced, or whether the operating load of the end-effector of the robot should be reduced [4]. These measurements are subject to standardization, such as that of the international ISO 9283 standard. A standard represents individual working properties of industrial robots and the procedures for their proper measurement [5]. These standards were developed in the wake of requirements of the robotic systems manufacturers that must satisfy the applicable directives. Standards addressing the robotic systems and general properties are the following:ISO 10218--robots and robotics devices--safety requirements for industrial robots [6]; ISO 13482--robots and robotics devices--safety requirements for personal care robots [7]; ISO 9283--manipulating industrial robots--performance criteria and related test methods [5]. This study will take a closer look at the ISO 9283 standard, which sets out the path-accuracy measurements. High-performance industrial or collaborative robots are a commodity indispensable for the successful delivery of orders in the technological process. At present, many robotic systems manufacturers provide little or limited information on the working properties of their robots. In many aspects, we encounter only basic accuracy or repeatability information. Evaluating all working properties is taxing not only for the control unit of the robot itself but also in terms of data processing using a metrological apparatus, which is very expensive [8]. Many metrological devices ensuring precise measurements of the end effector, thus harvesting the data needed, already exist. The principles on which these devices work vary. Nevertheless, they yield high-precision data [9; 10]. The working properties of industrial robots are practically measured most frequently with devices based on laser interferometry, coordinate measuring devices, or the so-called telescopic ballbars. The most available universal machine for measuring the mentioned properties is the so-called coordinate measuring machine (CMM). This machine suffers from many disadvantages. For example, it can only make static measurements or calibration. That is why it is not very suitable for measuring the working properties of robots. The group of devices based on laser interferometry includes one from Renishaw XL-80, which is used for high-performance measuring and the calibration of moving systems. Despite this calibration of the laser speed and precision, it is not used in industrial robots.