Medidas de calidad para la prensión de objetos

Máximo Roa, Raúl Suárez, Jordi Cornellà

Resumen

La prensión correcta de objetos es un aspecto clave para la ejecución de muchas tareas. En robótica, el desarrollo de elementos prensores cada vez más complejos y versátiles, como manos mecánicas, incrementa la necesidad de disponer de algoritmos para la determinación automática de prensiones, surgiendo de forma paralela la necesidad de cuantificar su calidad de cara a su optimización. En este artículo se presenta una revisión 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 según el aspecto principal evaluado: la localización de los puntos de contacto sobre el objeto o la configuración de la mano mecánica. 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 mecánicas; medidas de calidad para prensiones

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