DocumentCode
486521
Title
Performance Evaluation of Robotic Mechanisms
Author
Homsup, W. ; Anderson, J.N.
Author_Institution
Center for Manufacturing Research, Tennessee Technological University, Cookeville, Tennessee
fYear
1986
fDate
18-20 June 1986
Firstpage
130
Lastpage
140
Abstract
Kinematic, static and dynamic performance measures for single-arm manipulators are presented. They are formulated by using the geometrical representation of the manipulator through the Jacobian and the inertia matrix. Some properties of the performance measures are discussed. An interpretation of various performance measures using graphical techniques is also given. These performance measures and the associated graphical techniques can be used as an aid for designing or evaluating the performance of various robots. As an example, all results are derived for the two-link planar manipulator models.
Keywords
Ellipsoids; Force measurement; Jacobian matrices; Manipulator dynamics; Manufacturing; Motion measurement; Performance evaluation; Q measurement; Robot kinematics; Transmission line matrix methods;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1986
Conference_Location
Seattle, WA, USA
Type
conf
Filename
4788924
Link To Document