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

共 50 条

[21] On the optimal PID performance tuning for robotic manipulators
Choi, Y
Chung, WK
Youm, Y
IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4: EXPANDING THE SOCIETAL ROLE OF ROBOTICS IN THE NEXT MILLENNIUM, 2001, : 1656 - 1661
[22] Development of indices for sustainability of transportation systems: A review of state-of-the-art
Illahi, Ubaid
Mir, Mohammad Shafi
ECOLOGICAL INDICATORS, 2020, 118
[23] Walkability Indices-The State of the Art and Future Directions: A Systematic Review
Venerandi, Alessandro
Mellen, Hal
Romice, Ombretta
Porta, Sergio
SUSTAINABILITY, 2024, 16 (16)
[24] STATE ESTIMATION IN ROBOTIC MANIPULATORS - SOME EXPERIMENTAL RESULTS
NICOSIA, S
TORNAMBE, A
VALIGI, P
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 1993, 7 (03) : 321 - 351
[25] Performance of Electrochromic Glazing: State of the Art Review
Aoul, Kheira Anissa Tabet
Attoye, Daniel Efurosibina
Al Ghatrif, Lama
4TH WORLD MULTIDISCIPLINARY CIVIL ENGINEERING-ARCHITECTURE-URBAN PLANNING SYMPOSIUM - WMCAUS, 2019, 603
[26] State of the art literature review on performance measurement
Nudurupati, S. S.
Bititci, U. S.
Kumar, V.
Chan, F. T. S.
COMPUTERS & INDUSTRIAL ENGINEERING, 2011, 60 (02) : 279 - 290
[27] Performance Assessment for Mastoidectomy: State of the Art Review
Sethia, Rishabh
Kerwin, Thomas F.
Wiet, Gregory J.
OTOLARYNGOLOGY-HEAD AND NECK SURGERY, 2017, 156 (01) : 61 - 69
[28] State of the art review on design and performance of microsurfacing
Bhargava, Nishant
Siddagangaiah, Anjan Kumar
Ryntathiang, Teiborlang L.
ROAD MATERIALS AND PAVEMENT DESIGN, 2020, 21 (08) : 2091 - 2125
[29] State of the Art of Robotic Thymectomy
Ismail, Mahmoud
Swierzy, Marc
Rueckert, Jens C.
WORLD JOURNAL OF SURGERY, 2013, 37 (12) : 2740 - 2746
[30] State of the art of robotic pancreatoduodenectomy
Niccolò Napoli
Emanuele F. Kauffmann
Fabio Vistoli
Gabriella Amorese
Ugo Boggi
Updates in Surgery, 2021, 73 : 873 - 880

← 1 2 3 4 5 →