Dynamic Metrology Performance Measurement of a Six Degrees-of-Freedom Tracking System Used in Smart Manufacturing

Bostelman, Roger V.; Falco, Joseph A.; Shah, Milli; Hong, Tsai Hong

doi:10.1520/stp159420150056

Cited by 11 publications

(19 citation statements)

References 8 publications

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“…During development, an optical tracking measurement system [14, 15] was used as ground truth. The optical tracker could simultaneously measure the position of all system components.…”

Section: Experiments and Resultsmentioning

confidence: 99%

Mobile robot and mobile manipulator research towards ASTM standards development

2016

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Performance standards for industrial mobile robots and mobile manipulators (robot arms onboard mobile robots) have only recently begun development. Low cost and standardized measurement techniques are needed to characterize system performance, compare different systems, and to determine if recalibration is required. This paper discusses work at the National Institute of Standards and Technology (NIST) and within the ASTM Committee F45 on Driverless Automatic Guided Industrial Vehicles. This includes standards for both terminology, F45.91, and for navigation performance test methods, F45.02. The paper defines terms that are being considered. Additionally, the paper describes navigation test methods that are near ballot and docking test methods being designed for consideration within F45.02. This includes the use of low cost artifacts that can provide alternatives to using relatively expensive measurement systems.

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“…During development, an optical tracking measurement system [14, 15] was used as ground truth. The optical tracker could simultaneously measure the position of all system components.…”

Section: Experiments and Resultsmentioning

confidence: 99%

Mobile robot and mobile manipulator research towards ASTM standards development

2016

Self Cite

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“…Similar to [23] who used light markers and film to measure joint rotation axis location, NIST researchers used reflective, passive markers and an optical tracking system of 12 cameras [37] to track the joint rotation. And similar to both [28] and [29], rigid marker artifacts (RMA) were used.…”

Section: Robot Joint Measurementmentioning

confidence: 99%

“…As discussed in section 4.1, measurement of exoskeleton performance can also utilize measurement concepts developed for industrial robots. Specifically, in this section the use of artifacts to measure mobile manipulator performance is discussed where ground truth measurement from an optical tracking system was compared to making use of an artifact [37]. Cross-industry measurements used on industrial robots are envisioned to also be useful for exoskeleton performance measurement where exoskeleton wearers would walk up to an artifact, demonstrate pose performance for performing peg-in-hole and other tests.…”

Section: Industrial Mobile Manipulatormentioning

confidence: 99%

Test methods for exoskeletons—lessons learned from industrial and response robotics

2018

Wearable Exoskeleton Systems: Design, Control and Applications

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Exoskeletons are devices that can assist the human wearer's limbs to provide functional, normal, or amplified human capabilities. Research on exoskeletons has dramatically increased recently. However, measurements of these devices have yet to show long-term safety and other effects on humans. Safety standards now allow, through risk assessment, both manufacturing and wearable robots to be used, although performance standards for both systems are still lacking. Much can be learned from industrial and response robot safety and performance research and standards activities that can cross over into the exoskeleton arena. For example, ongoing research to develop standard test methods to assess performance of manufacturing robots and emergency response robots can inspire similar test methods for exoskeletons. This chapter first lists exoskeleton performance metrics and standards for collaborative industrial robots, response robots, and also physical assistance robots (i.e., exoskeletons). Then it describes measurements of joint axis rotation location using an industrial robot simulating a human arm, as well as mobile manipulator and response robot test method developments that could also apply to exoskeletons. These methods and others are then integrated into recommendations for exoskeleton test methods.

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“…There are several, similar systems on the market; these systems can be located using a simple online search. In addition to using the manufacturer's method for calibrating the OTS used for this mobile manipulator data collection exercise, research at NIST [7,8] has led to developing a calibration method for these systems that has recently been standardized 2 . We include this information here as potentially useful background information for users of optical tracking systems.…”

Section: Independent Measurement Systemmentioning

confidence: 99%

“…In order to be used as ground truth, the accuracy of the OTS must be at least ten times better than a given system under test. The twelve-camera OTS system which has submillimeter uncertainty in our setting [10] serves as ground truth for evaluating the performance of an automatic guided vehicle (AGV) with an onboard robot arm (mobile manipulator) and for evaluating the performance of robotic workstation assembly tasks (see Figure C-1). Figure C-1 The lab is equipped with twelve (six are shown and circled in red) optical tracking system cameras.…”

Section: Appendix C -Optical Tracking System Informationmentioning

confidence: 99%

Mobile manipulator performance measurement data

Bostelman¹,

Li-Baboud²,

Legowik³

et al. 2017

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The National Institute of Standards and Technology, Intelligent Systems Division has collected data measuring the performance of a mobile manipulator; i.e., an automatic guided vehicle (AGV) 1 with onboard robot arm, from two different manufacturers. The performance measurement concept uses a novel artifact and method that have been verified using an optical tracking system (OTS), which can measure AGV position, manipulator motion, and position uncertainty. The data needed to make these three measurements was collected during two tests; both tests have corresponding timestamps relative to global positioning system (GPS) time, where the computer clocks are synchronized using the Network Time Protocol. This paper provides detailed explanation of the data from mobile-manipulator, performance-measurement tests. It is expected that the user of the information within this document and the data files that accompany this document will have sufficient knowledge to implement mobile manipulation testing and evaluation.

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Dynamic Metrology Performance Measurement of a Six Degrees-of-Freedom Tracking System Used in Smart Manufacturing

Cited by 11 publications

References 8 publications

Mobile robot and mobile manipulator research towards ASTM standards development

Mobile robot and mobile manipulator research towards ASTM standards development

Test methods for exoskeletons—lessons learned from industrial and response robotics

Mobile manipulator performance measurement data

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