Robot and human operator capabilities in performing industrial tasks are analyzed and a work methodology developed for industrial robots. A new system of standard elementary robot motion and Reach Task Motion (RTM) Tables were developed which specify estimated Stanford Arm time requirements to perform individual motions. Robot and human task performance methods were compared using a water pump assembly. Differences observed were due to the robot's lack of finger dexterity, limited input sensing capability relative to human senses, and the use of only one arm. These limitations can be overcome by proper methods, placing, and workplace design. Robot performance required over eight times the estimated human performance time. Results indicate that RTM may provide a useful methodology in the analysis and design of robot work. Another important result is the transformation from a given human-performed industrial task to a robot-performed industrial task. RTM elements also provide a method for evaluating different robots.
Advanced Industrial Robot Control Systems
1980
54 pages
Report
Keine Angabe
Englisch
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