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Published in:
2012 | OriginalPaper | Chapter
Robot Performance Indices
Author : Franziska Zacharias
Published in: Knowledge Representations for Planning Manipulation Tasks
Publisher: Springer Berlin Heidelberg
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Robot performance indices evaluate how well a robot can apply forces or move during a specific task or throughout the whole workspace. Hence, they potentially contribute to a general description of the versatile workspace that is the focus of this book. In this chapter, criteria used in robot arm design are compared and evaluated with respect to their objectives. It is identified whether these criteria provide measures to evaluate a robotic arm’s kinematic capabilities with respect to reachability and manipulation of objects throughout the workspace. It is determined whether they can be used to represent the robot arm workspace. Furthermore state of the art approaches to model the workspace are analyzed and evaluated.