Sensors 2013, 13(7), 8412-8430; doi:10.3390/s130708412
Article

Measurement of the Robot Motor Capability of a Robot Motor System: A Fitts’s-Law-Inspired Approach

1,*  and 2
Received: 3 April 2013; in revised form: 26 June 2013 / Accepted: 28 June 2013 / Published: 2 July 2013
(This article belongs to the Section Physical Sensors)
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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.
Keywords: robot motor capability; pseudo-index of motor performance; speed-accuracy constraint; Fitts’s law
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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MDPI and ACS Style

Lin, H.-I.; Lee, C.S.G. Measurement of the Robot Motor Capability of a Robot Motor System: A Fitts’s-Law-Inspired Approach. Sensors 2013, 13, 8412-8430.

AMA Style

Lin H-I, Lee CSG. Measurement of the Robot Motor Capability of a Robot Motor System: A Fitts’s-Law-Inspired Approach. Sensors. 2013; 13(7):8412-8430.

Chicago/Turabian Style

Lin, Hsien-I; Lee, C. S.G. 2013. "Measurement of the Robot Motor Capability of a Robot Motor System: A Fitts’s-Law-Inspired Approach." Sensors 13, no. 7: 8412-8430.


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