Performance Indices for Robotic Manipulators: a review of the State of the Art

被引：18

作者：

Moreno, Hector A. ^{[1
]}

Saltaren, Roque ^{[1
]}

Carrera, Isela ^{[1
]}

Puglisi, Lisandro ^{[1
]}

Aracil, Rafael ^{[1
]}

机构：

[1] UPM CSIC, Ctr Automat & Robot, Madrid 28006, Spain

来源：

REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL | 2012年 / 9卷 / 02期

关键词：

Performance Indices; Kinetostatic; Dynamic; Joint Limits; Global; MANIPULATABILITY; DESIGN; OPTIMIZATION;

D O I：

10.1016/j.riai.2012.02.005

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：111 / 122

页数：12

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