Manipulator Performance Measures - A Comprehensive Literature Survey
Sarosh Patel,Tarek M. Sobh +1 more
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TLDR
The aim of this survey is to review the definition, classification, scope, and limitations of some of the widely used performance measures to study the performance and behavior of manipulators.Abstract:
Performance measures are quintessential to the design, synthesis, study and application of robotic manipulators. Numerous performance measures have been defined to study the performance and behavior of manipulators since the early days of robotics; some more widely accepted than others, but their real significance and limitations have not always been well understood. The aimof this survey is to review the definition, classification, scope, and limitations of some of the widely used performance measures. This work provides an extensive bibliography that can be of help to researchers interested in studying and evaluating the performance and behavior of robotic manipulators. Finally, a few recommendations are proposed based on the review so that the most commonly noticed limitations can be avoided when new performance measures are proposed.read more
Citations
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Journal ArticleDOI
Computer Solution of Linear Algebraic Systems. By G. Forsythe and C. B. Moler. Pp. xi, 148. 1967. (Prentice-Hall.)
Book
Foundations of robotics : analysis and control
TL;DR: Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators, and explains the physical meaning of the concepts and equations used, and provides the necessary background in kinetics, linear algebra, and Control theory.
Journal ArticleDOI
A Survey on Control of Hydraulic Robotic Manipulators With Projection to Future Trends
TL;DR: In this paper, a literature review is performed on their control, covering both free-space and constrained motions of serial and parallel manipulators, and potential solutions to improve the system energy efficiency without control performance deterioration are discussed.
Journal ArticleDOI
Parallel Continuum Robots: Modeling, Analysis, and Actuation-Based Force Sensing
TL;DR: A generalized Cosserat-rod-based kinetostatic model framework that accommodates various joint types and problem formulations useful for simulation and control and provides a nondimensional analysis of the compliance of PCRs is provided.
Journal ArticleDOI
On Higher Order Inverse Kinematics Methods in Time-Optimal Trajectory Planning for Kinematically Redundant Manipulators
TL;DR: A time-optimal path following along a predefined end-effector path is addressed for kinematically redundant robots, where nonredundant robots are included as special cases and explicit expressions for the higher order inverse kinematics are presented.
References
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Book
Robot dynamics and control
TL;DR: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control, providing background material on terminology and linear transformations and examples illustrating all aspects of the theory and problems.
Journal ArticleDOI
Manipulability of robotic mechanisms
TL;DR: In this article, a measure of manipulability of robotic mechanisms in positioning and orienting end-effectors has been proposed and the best postures of various types of manipulators are given, and a four degree-of-freedom finger is considered from the viewpoint of the measure.
Journal ArticleDOI
The singular value decomposition: Its computation and some applications
TL;DR: This work provides a tutorial introduction to certain numerical computations both in linear algebra and linear systems in the context of bounded arithmetic and the singular value decomposition (SVD).
Journal ArticleDOI
Articulated Hands: Force Control and Kinematic Issues
J. Kenneth Salisbury,J. J. Craig +1 more
TL;DR: Several architectures for position and force control of this multiloop mechanism are described, including a way of dealing with the internal forces inherent in such systems.