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Inicio Revista Iberoamericana de Automática e Informática Industrial RIAI Ìndices de Desempeño de Robots Manipuladores: una revisión del Estado del Art...
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Vol. 9. Núm. 2.
Páginas 111-122 (abril - junio 2012)
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7406
Vol. 9. Núm. 2.
Páginas 111-122 (abril - junio 2012)
Open Access
Ìndices de Desempeño de Robots Manipuladores: una revisión del Estado del Arte
Performance Indices for Robotic Manipulators: a review of the State of the Art
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7406
Héctor A. Moreno
Autor para correspondencia
hmoreno@etsii.upm.es

Autor para correspondencia.
, Roque Saltaren, Isela Carrera, Lisandro Puglisi, Rafael Aracil
Centro de Automática y Robótica,UPM-CSIC. C/ Josó Gutiérrez Abascal, 2. 28006. Madrid, España
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Los ìndices de desempeño son importantes herramientas para la planificación de movimientos y el diseño de robots manipuladores. En este trabajo se presenta una colección de algunos de los ìndices de desempeño que mayor interés han generado en la comunidad dedicada a la robótica. Se presentan ìndices de desempeño cinetostático, dinámico, de lìmites articulares, e ìndices definidos sobre el espacio de trabajo. Además, se realiza una revisión sobre las estrategias que se han propuesto para solventar los problemas que aparecen cuando las unidades de los elementos de la matriz Jacobiana no son homogéneas. Al final de este trabajo, proponemos una serie ìndices de desempeño globales que pueden resultar útiles en el diseño de robots manipuladores.

Palabras clave:
Ìndices de desempeño
Cinetostático
Dinámico
Limites Articulares
Globales
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.

Keywords:
Performance Indices
Kinetostatic
Dynamic
Joint Limits
Global
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