The authors present a scaling with which it is possible to predict the relative savings with respect to the time required for planar motions when using different actuators. This calculation can be done independently of the sequence of motions to be performed; in particular, when the sequence of motions is not yet known. This is commonly the case when the motion system is being designed. The use of this produce independent analysis requires that the scaling can only be done with respect to one free parameter representing the actuator. The analysis has the advantage that it simplifies comparison between actuators, since the relative performance is represented by a single scalar. It is shown that with the proper scaling the optimal sequence will remain unaffected. The improvement in the system's performance is quantifiable and independent of the distribution of the distances which must be traversed. >
['Stephen Grotzinger', 'Jehuda Ish-Shalom']
Task independent relationship of system to actuator performance via scaling