Robot Performance Indices

  • Franziska Zacharias
Part of the Cognitive Systems Monographs book series (COSMOS, volume 16)


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.


Humanoid Robot Reachable Workspace Robot Workspace Workspace Analysis Manipulability Measure 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  1. 1.Institute of Robotics and MechatronicsDLR German Aerospace CenterWesslingGermany

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