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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<author><name sortKey="Lin, Hsien I" sort="Lin, Hsien I" uniqKey="Lin H" first="Hsien-I" last="Lin">Hsien-I Lin</name>
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<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>
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<author><name sortKey="Lin, Hsien I" sort="Lin, Hsien I" uniqKey="Lin H" first="Hsien-I" last="Lin">Hsien-I Lin</name>
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<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>
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<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>
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