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.
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机译：机器人的马达能力对于机器人来说是至关重要的因素，因为它会影响机器人执行动作以完成受空间和时间条件限制的任务的准确性和速度。在本文中，我们提出并推导了电机性能的伪索引（pI p ），以考虑机器人的运动学，动力学和控制特性来表征机器人的电机能力。拟议的pI p 为具有旋转关节的机器人提供了一种定量方法，该方法的灵感来自于Fitts的人类技能定律中的性能指标。在PUMA 560工业机器人上进行了计算机仿真和实验，以验证所提出的pI p 能够准确，快速地执行运动。
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