Nonlinear Performance Index (npi): A Tool for Manipulator Dynamics Improvement

Jose L Pons*, R. Ceres, A. R. Jiménez, L. Calderón, J. M. Martin

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

17 Scopus citations


The precise control of manipulators depends nonlinearly on the velocity of the motion as well as on manipulator configuration and commanded acceleration requiring complex control strategies. This paper presents a useful tool for identifying and quantifying nonlinear effects appearing during the motion of any manipulator, the Nonlinear Performance Index (npi). The npi takes into account not only the geometrical parameters defining the manipulator but also its structural dynamics through the use of inertial parameters like mass, inertia, centre of mass ... The npi can be used in the design stage for analysing and reducing these undesirable nonlinear effects in any general motion or in the trajectory planning looking for paths along which more precise control is expected. The last part of the paper shows how this design optimisation and path planning has been applied to the Agribot, a fruit picking robot designed at the IAI.

Original languageEnglish (US)
Pages (from-to)277-287
Number of pages11
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number3
StatePublished - 1997


  • Design optimisation
  • Manipulator dynamics
  • Robot control
  • Trajectory planning

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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