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

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

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dc.contributor.author Moreno, Héctor A. es_ES
dc.contributor.author Saltarén, Roque es_ES
dc.contributor.author Carrera, Isela es_ES
dc.contributor.author Puglisi, Lisandro es_ES
dc.contributor.author Aracil, Rafael es_ES
dc.date.accessioned 2020-05-25T15:51:04Z
dc.date.available 2020-05-25T15:51:04Z
dc.date.issued 2012-04-09
dc.identifier.issn 1697-7912
dc.identifier.uri http://hdl.handle.net/10251/144291
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. es_ES
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.sponsorship 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. es_ES
dc.language Español es_ES
dc.publisher Elsevier es_ES
dc.relation.ispartof Revista Iberoamericana de Automática e Informática industrial es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Performance Indices es_ES
dc.subject Kinetostatic es_ES
dc.subject Dynamic es_ES
dc.subject Joint Limits es_ES
dc.subject Global es_ES
dc.subject Índices de desempeño es_ES
dc.subject Cinetostático es_ES
dc.subject Dinámico es_ES
dc.subject Limites Articulares es_ES
dc.subject Globales es_ES
dc.title Ìndices de Desempeño de Robots Manipuladores: una revisión del Estado del Arte es_ES
dc.title.alternative Performance Indices for Robotic Manipulators: a review of the State of the Art es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.riai.2012.02.005
dc.relation.projectID info:eu-repo/grantAgreement/MEC//DPI2006-06493/ES/SISTEMAS MODULARES AUTOCONFIGURABLES ROBOTIZADOS TELEOPERADOS/ es_ES
dc.rights.accessRights Abierto es_ES
dc.description.bibliographicCitation 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.2012.02.005 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.1016/j.riai.2012.02.005 es_ES
dc.description.upvformatpinicio 111 es_ES
dc.description.upvformatpfin 122 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 9 es_ES
dc.description.issue 2 es_ES
dc.identifier.eissn 1697-7920
dc.relation.pasarela OJS\9606 es_ES
dc.contributor.funder Ministerio de Educación y Ciencia es_ES
dc.contributor.funder Consejo Nacional de Ciencia y Tecnología, México es_ES
dc.contributor.funder Ministerio de Asuntos Exteriores y Cooperación es_ES
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