Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
Performance Indices for Robotic Manipulators: a review of the State of the Art
Year:2012
Research Areas
  • Electric engineers, electronic and automatic (eil)
Information
Abstract
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.
International
Si
JCR
Si
Title
Revista Iberoamericana de Automatica e Informatica Industrial
ISBN
1697-7912
Impact factor JCR
0,231
Impact info
Volume
9
10.1016/j.riai.2012.02.005
Journal number
2
From page
111
To page
122
Month
ABRIL
Ranking
Q4
Participants
  • Autor: Hector Moreno Avalos (UPM)
  • Autor: Roque Jacinto Saltaren Pazmiño (UPM)
  • Autor: Isela Guadalupe Carrera Calderon (UPM)
  • Autor: Lisandro Jose Puglisi . (UPM)
  • Autor: Rafael Aracil Santonja (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robots y máquinas inteligentes
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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