| Autor: |
Falco, Joe, Hemphill, Daniel, Kimble, Kenny, Messina, Elena, Norton, Adam, Ropelato, Rafael, Yanco, Holly |
| Jazyk: |
angličtina |
| Rok vydání: |
2020 |
| Předmět: |
|
| Zdroj: |
IEEE Robot Autom Lett |
| Popis: |
This paper describes a set of metrics and supporting benchmarking protocols for determining the performance characteristics of robot end-effectors. In the short-term, these tools are proving useful as a common ground for assessing and comparing end-effectors. The long-term goal is a standard framework for providing technical specifications for robotic end-effectors to help pair technologies to application spaces. This paper presents a subset of the metrics - grasp strength, grasp cycle time, finger strength, and finger repeatability - with accompanying measurement techniques and supporting test artifacts. The application of these metrics and protocols is demonstrated using example implementations to characterize a variety of robot end-effectors, with example data sets and test designs provided for downloading. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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