Modeling Performance Measurement of Mobile Manipulators

Bostelman, Roger V.; Foufou, Sebti; Hong, Tsai Hong

doi:10.1109/cyber.2017.8446329

Cited by 4 publications

(3 citation statements)

References 5 publications

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“…However, industrial safety system performance artifact research is non-existent for robots: a literature search provided no results and minimal results for mobile robots/AGVs [124]. Similarly, a literature search for artifacts used to measure mobile manipulator performance was virtually non-existent until recently at the U.S. National Institute of Standards and Technology (NIST) [126]. Mobile manipulator users could spend a relatively large amount of money having artifacts machined.…”

Section: Artifacts To Evaluate Performancementioning

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: Artifacts To Evaluate Performancementioning

confidence: 99%

Survey of Research for Performance Measurement of Mobile Manipulators

Bostelman¹,

Hong²,

Marvel³

2016

J. RES. NATL. INST. STAN.

Self Cite

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“…For example, industrial vehicle stability tests can apply dynamic ISO 7176 ramp wheelchair tests [3,4,5] to mobile robots used on level surfaces. Similarly, industrial robot offset-load tests discussed in ISO 9283 [6] can also be applied to industrial vehicle stability tests.…”

Section: Introductionmentioning

confidence: 99%

“…In Figure 1, the mobile manipulator is shown next to the reconfigurable mobile manipulator apparatus (RMMA) for relative size scaling. The RMMA is being developed to measure various aspects of mobile manipulator performance [6]. Tests are planned to measure the mobile manipulator performance using the RMMA.…”

Section: Introductionmentioning

confidence: 99%

Mobile manipulator stability measurements

Bostelman¹,

Hong²

2017

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Mobile manipulators are being marketed for material handling and other tasks. Manufacturers suggest that the stability of the vehicle is best when the onboard loading tapers the centroid to the center of the wheelbase as the payload height increases. Experiments were performed at the National Institute of Standards and Technology (NIST) that verify this notion on an Adept Lynx mobile robot with onboard Universal Robots UR5 manipulator. Results show that cantilevered loads near the payload top height cause vehicle instability during navigation that can roll the vehicle and cause off-path navigation. This paper describes the stability experiments and results.

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