Basically, and I'm no developer mind you....in games like Defender the processing of video objects is done on the CPU.
BUT a game like robotron is so intense that the CPU couldn't manage it alone.
SO they developed an off-board "special" set of chips to manage the video (blits....blitter concept).
those special blitter chips are wicked fast at what they do.
therefore you get an awesomely intense gameplay experience in 1982 such as Robotron.
well along comes emulation of the real hardware and it is all guesswork making software that acts like that real hardware. things like how much time should the emulation take to do things like access RAM and ROM. and how fast should all those blitter objects be processed. it is all guesswork. especially since the Special chips were a unique design. you'd have to crack them open and view with a microscope to really understand the hardware theory... (ie not likely to happen anytime soon)
soooo on the early attempts mame didn't have proper time for the cpu OR the special chips. and the guesses were way off of accurate.
what you'd see would be enemy projectiles processing way too fast, shots would blister across the screen, or hulks moving really fast, or grunts overtaking you way too fast..
the real hardware would only do a few of those enemy behaviors at a time, but new computers and emulation were trying to process all the objects at one time which is untolerably hard to deal with for the player in a game like robotron.
so it has been an ongoing process of trial and error development and gameplay feedback to try to "dial in" the gameplay of williams games with blitter (robotron/joust/bubbles/etc, not defender/stargate) so they were fun. And finally it is in the very final stages of someone getting it just right.
If you want to see what I mean first hand. go buy midway arcade origins for xbox. the emulation is terrible and the game is brutally hard.
try a 19-1 board and your scores will be terrible.
then try mame 148 when the updates are released, or if you are lucky to play a real machine. and you'll find you are a lot better at robotron than you realized!

PS- I got immersed in this accidentally...i had a 19-1 board and the xbla version of robotron. i was never a robo player in the golden era. so i practice and practiced and still couldn't crack half a million. it was soooo frustrating.
then one day i visited a friend with a real robotron and BAM I'm rocking 1 million. holy crap. wave 42 was easier on real machine than wave 12 on the 19-1 board! which led me to a lot of internet research and whining...sean riddle listened and came to the rescue....yada yada yada. here we are!