Manipulator Performance Measures - A Comprehensive Literature Survey
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Authors
Patel, Sarosh
Sobh, Tarek M.
Issue Date
2015-03
Type
Article
Language
en_US
Keywords
Robotics , Performance index , Manipulator metrics , Local , Global , Kinematics , Dynamic , Intrinsic , Extrinsic
Alternative Title
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 aim of 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.
Description
Due to copyright restrictions of the publisher this item is embargoed and access to the file is restricted until a year after the publishing date.
The final publication is available at www.springerlink.com
The final publication is available at www.springerlink.com
Citation
S. Patel, T. M. Sobh, "Manipulator Performance Measures - A Comprehensive Literature Survey," Journal of Intelligent and Robotic Systems, vol. 77 no. 3-4, Mar. 2015.
Publisher
Springer Netherlands