Manipulator Performance Measures - A Comprehensive Literature Survey

Abstract

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.Response to Reviewers: Authors' response to the reviewers' comments is attached as .PDF files Powered by Editorial Manager® and ProduXion Manager® from Aries Systems CorporationManipulator Performance Measures The total number of words of the manuscript, including entire text from title page to figure legends: 12840The number of words of the abstract: 125The number of figures: 7The number of tables: 0 AbstractPerformance 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.

Suppression Control for Joint Impact Torque caused by Joint-Locked Failure of Space Manipulator under External Force

“…However, the impact torque is related to the space manipulator dynamics. Taking this into account, the inertia matrix M which reflects the variation in configuration, load and joint status of space manipulator is introduced to construct the dynamics manipulability [14].…”

Coordinating a heterogeneous robot swarm using Robot Utility-based Task Assignment (RUTA)

“…On the other hand, recent researchers have begun to take a system controls perspective and analyze the stability of multiple robot agents. Other important hardware aspects of the current modular swarm robotic systems such as selfreconfigurability, self-replication, self-assembly, flexibility, and scalability were thoroughly analyzed in our other work [7][8][9][10].…”

Modelling and simulation of multi spindle drilling redundant SCARA robot using SolidWorks and MATLAB/SimMechanics

“…A comprehensive study of manipulator performance measures that are very essential to design and study the applications of robotic manipulators, in order to develop a robot with improvised configuration was made by [6]. The Forward and inverse kinematics for SCARA, Cylindrical robot with four degrees of freedom to find the end-effector position and orientation which is applicable for TIG or MIG welding was studied by [7] .…”