A three-dimensional statistical framework for performance measurement of robotic systems

Edan, Yael; Friedman, Lea; Mehrez, Abraham; Slutski, Leonid I.

doi:10.1016/s0736-5845(98)00006-4

Cited by 10 publications

(13 citation statements)

References 16 publications

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“…This section describes the metrics for mobile manipulators and research that has occurred in this area. Besides the development of a three-dimensional, statistical, evaluation framework for performance measurement of robotic systems [77] dated 1998, the majority of references date research in this area within only the last 13 years (i.e., [2003][2004][2005][2006][2007][2008][2009][2010][2011][2012][2013][2014][2015][2016] implying that there is a relatively new thrust in measuring robot performance.…”

Section: Performance Metricsmentioning

confidence: 99%

Survey of Research for Performance Measurement of Mobile Manipulators

Bostelman¹,

Hong²,

Marvel³

2016

J. RES. NATL. INST. STAN.

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This survey provides the basis for developing research in the area of mobile manipulator performance measurement, an area that has relatively few research articles when compared to other mobile manipulator research areas. The survey provides a literature review of mobile manipulator research with examples of experimental applications. The survey also provides an extensive list of planning and control references as this has been the major research focus for mobile manipulators which factors into performance measurement of the system. The survey then reviews performance metrics considered for mobile robots, robot arms, and mobile manipulators and the systems that measure their performance, including machine tool measurement systems through dynamic motion tracking systems. Lastly, the survey includes a section on research that has occurred for performance measurement of robots, mobile robots, and mobile manipulators beginning with calibration, standards, and mobile manipulator artifacts that are being considered for evaluation of mobile manipulator performance.

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Section: Performance Metricsmentioning

confidence: 99%

Survey of Research for Performance Measurement of Mobile Manipulators

Bostelman¹,

Hong²,

Marvel³

2016

J. RES. NATL. INST. STAN.

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“…This was not the first work on this subject. Statistical work has been proposed to quantify the influence of some factors on repeatability [17], [18]. Riemer and Edan were interested in workspace location influence [19].…”

Section: Spatial Resolution Definitionmentioning

confidence: 99%

Innovative kinematics and control to improve robot spatial resolution

Brethé

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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The paper presents innovative kinematics and control of a planar redundant robot designed to improve spatial resolution by a factor 5. This result is obtained in a restricted area of the workspace using position information from external sensors. This innovation results from a clearer understanding of the factors that influence the robot micrometric behavior: axes control resolution generates a set of attainable points in the robot workspace and different spatial resolution patterns appear when introducing redundancy depending on the final axes chosen to correct the position.

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“…Previous research indicated an influence of the manipulator's speed and payload on repeatability. 1,9 Therefore, a preliminary experiment was set up to determine the best parameters for the extensive experiment. A preliminary experiment (Table I) evaluated five different combinations of speed and payload (corresponding to ISO9283 specifications: 50% and 100% of maximum speed and payload, and for 80% of maximum speed) while approaching the central target point.…”

Section: Experimental Designmentioning

confidence: 99%

“…8 In order to evaluate these errors, different robot positions for various robot poses within the workspace must be evaluated. 4 In previous research 9 we developed a threedimensional statistical evaluation framework to predict repeatablity by relating repeatability to the Maxwell distribution function. This model proved to simplify the evaluation of robotic systems within a known economic framework.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of influence of target location on robot repeatability

Riemer¹,

Edan

2000

Robotica

Self Cite

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This paper evaluates the influence of target location on robot repeatability. An experiment was set up to analyze the effect of the three-dimensional target location on robot repeatability. An error-analysis model to determine repeatability based on the robot's kinematic model and known robot parameters was developed. Experimental results indicated that there was a significant statistical difference between repeatability at different locations in the workspace and that the height of the target point influenced repeatability. Experimental results tended to those derived from the error-analysis kinematic model. Hence, to determine the optimal target location, there is no need for extensive experimentation; instead, only a few target points can be sampled and compared to an error-analysis model.

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A three-dimensional statistical framework for performance measurement of robotic systems

Cited by 10 publications

References 16 publications

Survey of Research for Performance Measurement of Mobile Manipulators

Survey of Research for Performance Measurement of Mobile Manipulators

Innovative kinematics and control to improve robot spatial resolution

Evaluation of influence of target location on robot repeatability

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