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

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

1
Graduate Institute of Automation Technology, National Taipei University of Technology, Taipei 10608, Taiwan
2
School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN 47907, USA
*
Author to whom correspondence should be addressed.
Received: 3 April 2013 / Revised: 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 robot motor capability; pseudo-index of motor performance; speed-accuracy constraint; Fitts’s law
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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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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.

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