Free motion mechanical power factor; comparison between robots in different structure and coordinate

This paper shows behavior of power factor in mechanical system in the case of work space motion. XY table and two link manipulator are employed to demonstrate the difference between work space power factor and joint space power factor. It turns out that power factor in work space and joint space becomes different even though the same motion is performed. In addition, power factor during free motion is investigated. Experimental results supports that structure of the system is relevant to the efficiency of the motion.