Key points are not available for this paper at this time.
Conventional industrial robots are low payload devices and this has been state of the art for many years. The laws of physics mitigate against the easy implementation of large robots. As robots become larger, the structure and drive natural frequency decreases, limiting the system gain and rapidly degrading the accuracy and speed of operation to an impractical level, to mention only some of the problems related to large robot technology.
Schraft et al. (Tue,) studied this question.