Ìndices de Desempeño de Robots Manipuladores: una revisión del Estado del Arte

Héctor A. Moreno, Roque Saltarén, Isela Carrera, Lisandro Puglisi, Rafael Aracil

Resumen

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

Índices de desempeño; Cinetostático; Dinámico; Limites Articulares; Globales

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Referencias

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