Ìndices de Desempeño de Robots Manipuladores: una revisión del Estado del Arte

  1. Héctor A. Moreno 1
  2. Roque Saltaren 1
  3. Isela Carrera 1
  4. Lisandro Puglisi 1
  5. Rafael Aracil 1
  1. 1 Centro de Automática y Robótica
    info

    Centro de Automática y Robótica

    Madrid, España

Revista:
Revista iberoamericana de automática e informática industrial ( RIAI )

ISSN: 1697-7920

Ano de publicación: 2012

Volume: 9

Número: 2

Páxinas: 11-122

Tipo: Artigo

DOI: 10.1016/J.RIAI.2012.02.005 DIALNET GOOGLE SCHOLAR lock_openAcceso aberto editor

Outras publicacións en: Revista iberoamericana de automática e informática industrial ( RIAI )

Obxectivos de Desenvolvemento Sustentable

Resumo

The performance indices are important tools for motion planning and design of robot manipulators. In this paper we present a collection of some of the performance indices that have generated interest in the robotics community. These indices are four different types: kinetostatic performance indices, dynamic performance indices, indices of joint limits, and finally global performance indices. In addition, we review the strategies that have been proposed to solve the problems that occur when the units of the Jacobian matrix elements are not homogeneous. At the end of this paper, we propose a set of global performance indices that can be useful in the design of robot manipulators.

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