Información del artículo
Resumen
La prensión correcta de objetos es un aspecto clave para la ejecucion de muchas tareas. En robòtica, el desarrollo de elementos prensores cada vez mas complejos y versàtiles, como manos mecànicas, incrementa la necesidad de disponer de algoritmos para la determinacion automàtica de prensiones, surgiendo de forma paralela la necesidad de cuantificar su calidad de cara a su optimización. En este articulo se presenta una revision de las medidas de calidad propuestas en la literatura especializada para evaluar la calidad de una prensión. Las medidas de calidad se clasifican en dos grupos segun el aspecto principal evaluado: la localization de los puntos de contacto sobre el objeto o la configuration de la mano mecànica. También se revisan los enfoques que combinan diferentes medidas de calidad de los dos grupos anteriores para obtener una medida de calidad global.
Palabras clave:
prensión
manos mecànicas
medidas de calidad para prensiones
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Este trabajo ha sido parcialmente financiado por los pro- yectos CICYT DPI2005-00112 y DPI2007-63665, y Acción Integrada HI2005-0290.
Maximo Roa es profesor en la Universidad Nacional de Colombia; actualmente trabaja en el IOC-UPC financiado por el programa Al/3an, beca No. E04D039103CO.
Jordi Cornelia es actualmente “Marie Curie Experienced Researcher” en The Interventional Centre, Rikshospitalet University Hospital - University of Oslo, Oslo (Norway).
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