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Measurement of the Robot Motor Capability of a Robot Motor System: A Fitts’s-Law-Inspired Approach
Graduate Institute of Automation Technology, National Taipei University of Technology, Taipei 10608, Taiwan
School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN 47907, USA
* Author to whom correspondence should be addressed.
Received: 3 April 2013; in revised form: 26 June 2013 / Accepted: 28 June 2013 / Published: 2 July 2013
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
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Cite This Article
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.
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.
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.