Response Time Estimation in Robotics Using Hierarchical Performance Modeling Approach

The Multi-disciplinary domain of robotics has become instrumental in advancements in many fields such as medical, military and industrial automation. They are used to ensure reliability, stability and precision. Particularly, they are preferred to be used in an environment where uncertainties and disturbances occur. Measuring or estimating a performance metric such as response time or throughput under severe circumstances is crucial since designers want to know the behavior of robots and their reaction when a constrained condition is applied. The present research applies the framework proposed earlier on a robotic manipulator to predict a performance metric, this paper considers only the execution time which is also known as the response time. In addition, a comparison is performed between predicted and actual values. All values herein are average ones. A simulation system in MATLAB is used to find out the differences between the predicted and actual values. Results demonstrate that the proposed framework is capable of finding the needed metric or metrics and determining/spotting bottleneck(s) inside any system under consideration as it has been verified by several experiments.