2011
DOI: 10.1007/s11431-010-4210-2
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Energy Distribution Index for robot manipulators and its application to buffering capability evaluation

Abstract: This paper proposes an approach to evaluate the performance of robot manipulator from the view of energy analysis. Based on the dynamics analysis of the manipulator, the Energy Distribution Index (EDI) is defined to depict the energy increment contribution of its subsystem to the whole manipulator. EDI is applied to the evaluation of the buffering capability of the manipulator working under unpredictable and heavy external loads. A series of buffering indices, the Static Buffering Index (SBI), Kineto-Static Bu… Show more

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Cited by 7 publications
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References 24 publications
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