Performance Evaluation of Robotic Mechanisms

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.