Criteria for robot performance in path-following activities

Commercial robotic systems often include ambiguous information in their specifications for path-following capabilities and regarding the feasibility of improving path-following through adaptive control. It is necessary to establish criteria to differentiate between the various levels of path following. This paper presents a set of motion criteria and demonstrates how to construct a check scheme according to these criteria. The proposed check scheme provides a powerful tool for assessing robot motion performance and comparing the performance of different systems.