Lognormality of Velocity Profiles in Rapid Robotic Arm Movements

Abstract

Robotic arms commonly execute movements at a constant speed, but a sequence of short and rapid movements require the robotic arm to speed up and slow down continuously. This paper is aimed to assess if these movements can be approximated by the Sigma-Lognormal model. The parameters of the Sigma-Lognormal model have been calculated with two different methods: ScriptStudio and iDelog. In both cases, the SNR is greater than 15 dB assessing the lognormality of the rapid robotic movements. This is highlighted by the fact that the solutions reached by each method are statistically different.