COMPARATIVE EVALUATION OF ROBOTIC MANIPULATOR MORPHOLOGY BASED ON TASK PERFORMANCE.

R. J. Caudill, P. DiMatteo

Research output: Contribution to conferencePaperpeer-review

Abstract

This paper examines and compares the performance of generic industrial robots from a morphological perspective. Computer simulations of the manipulator dynamics are used to comparatively evaluate a broad class of industrial robots. Four generic robot types - cartesian, cylindrical, polar and revolute - driven with electric or hydraulic servo-motors are examined. Particular attention is focussed on identifying the sensitivity of robot performance to variations in its physical characteristics. Two position errors are used to assess the performance of each robot.

Original languageEnglish (US)
Pages207-213
Number of pages7
StatePublished - Dec 1 1984
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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