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Measurement of the robot motor capability of a robot motor system: a Fitts's-law-inspired approach
1Graduate Institute of Automation Technology, National Taipei University of Technology, Taipei 10608, Taiwan. sofin@ntut.edu.tw
Abstract:
Robot motor capability is a crucial factor for a robot, because it affects how accurately and rapidly a robot can perform a motion to accomplish a task constrained by spatial and temporal conditions. In this paper, we propose and derive a pseudo-index of motor performance (pIp) to characterize robot motor capability with robot kinematics, dynamics and control taken into consideration. The proposed pIp provides a quantitative measure for a robot with revolute joints, which is inspired from an index of performance in Fitts's law of human skills. Computer simulations and experiments on a PUMA 560 industrial robot were conducted to validate the proposed pIp for performing a motion accurately and rapidly.
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