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

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dc.contributor.authorMoreno, Héctor A.es_ES
dc.contributor.authorSaltarén, Roquees_ES
dc.contributor.authorCarrera, Iselaes_ES
dc.contributor.authorPuglisi, Lisandroes_ES
dc.contributor.authorAracil, Rafaeles_ES
dc.contributor.funderMinisterio de Educación y Cienciaes_ES
dc.contributor.funderConsejo Nacional de Ciencia y Tecnología, Méxicoes_ES
dc.contributor.funderMinisterio de Asuntos Exteriores y Cooperaciónes_ES
dc.date.accessioned2020-05-25T15:51:04Z
dc.date.available2020-05-25T15:51:04Z
dc.date.issued2012-04-09
dc.description.abstract[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.en_EN
dc.description.abstract[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.es_ES
dc.description.accrualMethodOJSes_ES
dc.description.bibliographicCitationMoreno, 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.2012.02.005es_ES
dc.description.issue2es_ES
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dc.description.sponsorshipEste 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.es_ES
dc.description.upvformatpfin122es_ES
dc.description.upvformatpinicio111es_ES
dc.description.volume9es_ES
dc.identifier.doi10.1016/j.riai.2012.02.005
dc.identifier.eissn1697-7920
dc.identifier.issn1697-7912
dc.identifier.urihttps://riunet.upv.es/handle/10251/144291
dc.languageEspañoles_ES
dc.publisherElsevieres_ES
dc.relation.ispartofRevista Iberoamericana de Automática e Informática industriales_ES
dc.relation.pasarelaOJS\9606es_ES
dc.relation.projectIDinfo:eu-repo/grantAgreement/MEC//DPI2006-06493/ES/SISTEMAS MODULARES AUTOCONFIGURABLES ROBOTIZADOS TELEOPERADOS/es_ES
dc.relation.publisherversionhttps://doi.org/10.1016/j.riai.2012.02.005es_ES
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dc.rightsReserva de todos los derechoses_ES
dc.rights.accessRightsAbiertoes_ES
dc.subjectPerformance Indiceses_ES
dc.subjectKinetostatices_ES
dc.subjectDynamices_ES
dc.subjectJoint Limitses_ES
dc.subjectGlobales_ES
dc.subjectÍndices de desempeñoes_ES
dc.subjectCinetostáticoes_ES
dc.subjectDinámicoes_ES
dc.subjectLimites Articulareses_ES
dc.subjectGlobaleses_ES
dc.titleÌndices de Desempeño de Robots Manipuladores: una revisión del Estado del Artees_ES
dc.title.alternativePerformance Indices for Robotic Manipulators: a review of the State of the Artes_ES
dc.typeArtículoes_ES
dc.type.versioninfo:eu-repo/semantics/publishedVersiones_ES
dspace.entity.typePublication
upv.uuidc0d5d0b9-9000-4a2f-80fa-569ae6972d8aes_ES

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Revista Iberoamericana de Automática e Informática - Vol 09, No 2 (2012)