Analysis of robot motion performance and implications to economy principles

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.