@inproceedings{72f6efb50b944624981b6c7f21594a88,
title = "Analysis of robot motion performance and implications to economy principles",
abstract = "This paper utilizes the idea of robot ergonomics in which robotic tasks are evaluated according to ergonomics criteria. Robot performance is continuously recorded in terms of total motion for each robotic link, the load applied on each joint, and the accuracy of each motion. Evaluating robot motion can assist in the design of a robotic cell, where robot position and layout of peripheral equipment are determined. In previous work, the main measure has been arm joint utilization (AJU). Two new measures are developed here: Arm joint accuracy (AJA) and arm joint load (AJL). A test case of an articulated industrial robot, performing a kitting task is presented. Robot performance is evaluated for various bin positions, and based on these results, the bin position relative to the robot is determined based on all three measures,AJA, AJL and AJU.",
keywords = "Drilling, Kinematics, Motion estimation, Motion measurement, Performance analysis, Robot motion, Robotic assembly, Spot welding, Torque measurement, Weight measurement",
author = "S. Shoval and J. Rubinokitz and S. Nof",
note = "Publisher Copyright: {\textcopyright}1998 IEEE.; 15th IEEE International Conference on Robotics and Automation, ICRA 1998 ; Conference date: 16-05-1998 Through 20-05-1998",
year = "1998",
doi = "10.1109/ROBOT.1998.680764",
language = "אנגלית",
isbn = "078034300X",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2765--2770",
booktitle = "Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998",
address = "ארצות הברית",
}