【正文】 of measurements (a) free robot, (b) human operator, (c) braced robot and (d) human operator with braced forearm. The results of the repeatability test in free robot and braced robot. 4 The results of the repeatability test in free human operator and with bracing. In the next four histograms (Figs. 4 and 5) the results of the position repeatability for the four specified types of testing are presented. The repeatability of the braced robot as pared to the free robot was improved for approximately 50%. The same improvement in the human operator was for about 25%. Note,that the weighttopayload ratio for robot was more than 10_ higher than for human operator. 4 Conclusion Applying bracing strategy during robot manipulation is a copy of human behavior. Position repeatability performance criteria were studied. Repeatability measurements according to ISO 9283 were performed with industrial manipulating robot. For the first time, the same measurement of position repeatability under condition of ISO 9238 standard was used in the test of a human operator performance. The results show significant improvement of position repeatability in cases when the robot and the human operator are braced against the supporting body. The parative study encouraged researchers for further investigation of bracing strategy [7]. Same approaches to human operator position repeatability assessment could be applied also in ergonomic studies. 5 Summary The industrial manipulating robots are usually more or less accurate structural copies of human operator39。as207。/3010 (Northern Digital). The position repeatability tests were performed for the robot Asea Irb 6 and the human operator acplishing similar manipulating task under the same conditions. Human and robot operations in free and braced condition were tested. Position repeatability of the braced robot as pared to free robot was improved for approximately 50%. The same improvement in human operator was about 25%.Weighttopayload ratio for robot was more than 10_ higher than for human operator. The results of the study encouraged researchers for further investigation of the kinematics of a braced robot. The potential use of the obtained results in ergonomic studies is suggested. Acknowledgements This work was partly sponsored by the Slovenian Ministry of Science and Technology. The authors wish to acknowledge the contribution of Dana Maurovic207。這個策略模仿了人工操作時的動作。 除了一些估計，在人工和機器人的表現(xiàn)之間并沒有明確的比較。以相同的標(biāo) 準(zhǔn)測量操作員的手和機器人的操作臂。請注意，該機器人的重量 有效載荷比高出了操作人員的 10 倍多。/3010 (Northern Digital)建立。 IC207。 12 參考文獻 [1] J. ZUPANC207。同樣的道理可用在機器人上，用來改善精度、可重復(fù)性、剛度、有效載荷能力和機械振動等機械特性。在人手上附加 公斤的重量來模擬機器人手上的相同重量的工具。 重復(fù)性試驗測試的是機器人（ 1），有支撐的機器人（ 2），操作員（ 3），前臂支撐的操作員（ 4）。 在特殊情況下，使用適當(dāng)?shù)闹误w能夠增加機器人的絕對精度和可重復(fù)性。as207。s weight was assumed as arm weight. Additional dummy weight with the mass of kg was attached to the human39。ka 25, SI1000 Ljubljana, Slovenia Received 8 December 1997 Abstract Robot performance criteria of position repeatability are studied. Weighttopayloa