Performance Indices for Robotic Manipulators: a review of the State of the Art

[EN] 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.[ES] 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.Este trabajo fue financiado por el proyecto DPI2006-06493 del Ministerio de Educación y Ciencia de España. La tercera autora y el cuarto autor agradecen por sus becas doctorales al CONACYT de México y al MAEC-AECI de España, respectivamente.Moreno, HA.; Saltarén, R.; Carrera, I.; Puglisi, L.; Aracil, R. (2012). Ìndices de Desempeño de Robots Manipuladores: una revisión del Estado del Arte. Revista Iberoamericana de Automática e Informática industrial. 9(2):111-122. https://doi.org/10.1016/j.riai.2012.02.00511112292Alba, O. 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