Measurement of the Robot Motor Capability of a Robot Motor System: A Fitts's-Law-Inspired Approach
Identifieur interne : 001A40 ( Main/Exploration ); précédent : 001A39; suivant : 001A41Measurement of the Robot Motor Capability of a Robot Motor System: A Fitts's-Law-Inspired Approach
Auteurs : Hsien-I Lin [Taïwan] ; C. S. George LeeSource :
- Sensors (Basel, Switzerland) [ 1424-8220 ] ; 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 (
Url:
DOI: 10.3390/s130708412
PubMed: 23820745
PubMed Central: 3758602
Affiliations:
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George Lee</name><affiliation><nlm:aff id="af2-sensors-13-08412"> School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN 47907, USA; E-Mail:<email>csglee@purdue.edu</email></nlm:aff></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">23820745</idno><idno type="pmc">3758602</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3758602</idno><idno type="RBID">PMC:3758602</idno><idno type="doi">10.3390/s130708412</idno><date when="2013">2013</date><idno type="wicri:Area/Pmc/Corpus">002470</idno><idno type="wicri:Area/Pmc/Curation">002470</idno><idno type="wicri:Area/Pmc/Checkpoint">001159</idno><idno type="wicri:Area/Ncbi/Merge">002777</idno><idno type="wicri:Area/Ncbi/Curation">002777</idno><idno type="wicri:Area/Ncbi/Checkpoint">002777</idno><idno type="wicri:Area/Main/Merge">001A58</idno><idno type="wicri:Area/Main/Curation">001A40</idno><idno type="wicri:Area/Main/Exploration">001A40</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Measurement of the Robot Motor Capability of a Robot Motor System: A Fitts's-Law-Inspired Approach</title><author><name sortKey="Lin, Hsien I" sort="Lin, Hsien I" uniqKey="Lin H" first="Hsien-I" last="Lin">Hsien-I Lin</name><affiliation wicri:level="1"><nlm:aff id="af1-sensors-13-08412"> Graduate Institute of Automation Technology, National Taipei University of Technology, Taipei 10608, Taiwan</nlm:aff><country xml:lang="fr">Taïwan</country><wicri:regionArea> Graduate Institute of Automation Technology, National Taipei University of Technology, Taipei 10608</wicri:regionArea><wicri:noRegion>Taipei 10608</wicri:noRegion></affiliation></author><author><name sortKey="George Lee, C S" sort="George Lee, C S" uniqKey="George Lee C" first="C. S." last="George Lee">C. S. George Lee</name><affiliation><nlm:aff id="af2-sensors-13-08412"> School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN 47907, USA; E-Mail:<email>csglee@purdue.edu</email></nlm:aff></affiliation></author></analytic><series><title level="j">Sensors (Basel, Switzerland)</title><idno type="eISSN">1424-8220</idno><imprint><date when="2013">2013</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>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 (<italic>pI<sub>p</sub></italic>) to characterize robot motor capability with robot kinematics, dynamics and control taken into consideration. The proposed <italic>pI<sub>p</sub></italic> 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 <italic>pI<sub>p</sub></italic> for performing a motion accurately and rapidly.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="He, X" uniqKey="He X">X. He</name></author><author><name sortKey="Chen, Y" uniqKey="Chen Y">Y. Chen</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Shibata, T" uniqKey="Shibata T">T. Shibata</name></author><author><name sortKey="Abe, T" uniqKey="Abe T">T. Abe</name></author><author><name sortKey="Tanie, K" uniqKey="Tanie K">K. Tanie</name></author><author><name sortKey="Nose, M" uniqKey="Nose M">M. 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George Lee</name></noCountry><country name="Taïwan"><noRegion><name sortKey="Lin, Hsien I" sort="Lin, Hsien I" uniqKey="Lin H" first="Hsien-I" last="Lin">Hsien-I Lin</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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