Mobile manipulator performance measurement data

Bostelman, Roger V.; Li-Baboud, YaShian; Legowik, Steven; Hong, Tsai Hong; Foufou, Sebti

doi:10.6028/nist.tn.1965

Cited by 4 publications

(9 citation statements)

References 6 publications

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“…('+' -Potential Outlier, 'O' -Outlier) Fig. 19 Boxplots of the standard deviation of marker position components for the RMMA during bisect registration. ('+' -Potential Outlier, 'O' -Outlier) Fig.…”

Section: List Of Figuresmentioning

confidence: 99%

“…This publication is available free of charge from: https://doi.org/10.6028/NIST.AMS.100-45 the performance measurement methodology to a mobile manipulator featuring an AGV [15,[17][18][19]. The AGV was restricted to using pre-specified paths while navigating between goals [15].…”

Section: ______________________________________________________________________________________________________mentioning

confidence: 99%

“…1-3. Reference points r 1 and r 2 were also needed to determine the orientation offset between the manipulator base and the RMMA in a similar manner as the bisect registration method used and documented in prior work [6,[18][19][20]40].…”

Section: Edge Registrationmentioning

confidence: 99%

“…Past work included the development of the Re-configurable Mobile Manipulator Artifact (RMMA), which introduced a cost-effective, and flexible artifact for measuring mobile manipulator performance across numerous simulated manufacturing tasks and the use of an optical tracking system (OTS) to establish a ground truth reference of comparison to the RMMA [9,15,16]. Both measurement techniques were applied towards measuring both a mobile manipulator that consisted of an AGV and an autonomous mobile robot (AMR) for the mobile platform [6,15,[17][18][19]. Additionally, the RMMA was used to compare coordinate registration methods for use with the mobile manipulators [20].…”

Section: Introductionmentioning

confidence: 99%

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Performance Measurement of a Mobile Manipulator-on-a-Cart and Coordinate Registration Methods for Manufacturing Applications

Aboul-Enein¹,

Bostelman²,

Li-Baboud³

et al. 2021

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Mobile manipulators, which consist of a robotic manipulator arm on a vehicular base, enable more flexible and dynamic workflows in manufacturing processes by freeing the manipulator arm from the restriction of working on a single, calibrated workspace. A mobile manipulator-on-cart further enhances job concurrency since the manipulator arm is mounted to a detachable cart rather than directly to the vehicle payload structure. With this increase in flexibility, there is a need to understand new sources of position and orientation uncertainty. This uncertainty can degrade the accuracy and precision of the mobile manipulator position and orientation in addition to the coordination capability between the manipulator and vehicle. To facilitate performance evaluation and uncertainty characterization, the National Institute of Standards and Technology (NIST) has developed an artifact-based measurement methodology for mobile manipulator-on-a-cart systems. The artifact, which is re-configurable, simulates mock-assembly tasks for manufacturing applications and is compared to a ground truth consisting of an optical tracking system. In this paper, we document experimental procedures, data analysis methods, and results in measuring the performance of the manipulator-on-a-cart system. We also compare the speed and accuracy of two example coordinate registration techniques to be used by the mobile manipulator-on-a-cart to reduce position and orientation uncertainty.

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Section: List Of Figuresmentioning

confidence: 99%

Section: ______________________________________________________________________________________________________mentioning

confidence: 99%

Section: Edge Registrationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Performance Measurement of a Mobile Manipulator-on-a-Cart and Coordinate Registration Methods for Manufacturing Applications

Aboul-Enein¹,

Bostelman²,

Li-Baboud³

et al. 2021

Self Cite

View full text Add to dashboard Cite

show abstract

“…The Type A CMMA has been used to measure the static and indexed performance of an Automatic Guided Vehicle (AGV) mobile manipulator [20][21][22][23][24], the indexed performance of an Autonomous Mobile Robot (AMR) mobile manipulator [25], and the indexed performance of a mobile manipulator-on-a-cart, in which an Autonomous Mobile Robot Cart Transporter (AMR-CT) coordinated with a manipulator mounted on a detachable cart [26].…”

Section: Introductionmentioning

confidence: 99%

Design and implementation of a closed-loop mobile manipulator control system

Aboul-Enein

2023

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Mobile manipulators, which integrate a robotic manipulator with an automatic-autonomous mobile base, have the potential to augment automation by combining the capability of navigation with complex manipulation to support unstructured and dynamic environments. Targeted applications include manufacturing large-scale parts commonly encountered in the aerospace, energy, shipbuilding, and transportation sectors. While autonomous mobility no longer restricts the robotic manipulator to working at a single, rigidly fixtured workstation or work-piece, the increased flexibility introduces new sources of position and orientation uncertainty, and manufacturing processes of large-scale parts with complex, curved surfaces require high repeatability and accuracy. A standardized measurement methodology, including a configurable measurement artifact to simulate dynamic manufacturing operations, is being developed to identify and evaluate these sources of performance uncertainty. As part of this methodology and associated test methods development, this work details the design and prototype implementation of a closed-loop mobile manipulator control system that integrates feedback from an optical tracking system. Development of the control system presents a new test implementation to demonstrate the performance evaluation of mobile manipulation performance in application scenarios where the workstation or work-piece is physically disturbed during operation or where rapid registration between distant locations along the same work-piece is required. This work will promote advances in control scheme development by providing a standardized, reproducible test method for evaluation in a variety of simulated application spaces.

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Performance measurement of a mobile manipulator-on-a-cart and coordinate registration methods for manufacturing applications

Aboul-Enein¹

2022

View full text Add to dashboard Cite

Mobile manipulators, which consist of a robotic manipulator arm on a vehicular base, enable more flexible and dynamic workflows in manufacturing processes by freeing the manipulator arm from the restriction of working on a single, calibrated workspace. A mobile manipulator-on-cart further enhances job concurrency since the manipulator arm is mounted to a detachable cart rather than directly to the vehicle payload structure. With this increase in flexibility, there is a need to understand new sources of position and orientation uncertainty. This uncertainty can degrade the accuracy and precision of the mobile manipulator position and orientation in addition to the coordination capability between the manipulator and vehicle. To facilitate performance evaluation and uncertainty characterization, the National Institute of Standards and Technology (NIST) has developed an artifact-based measurement methodology for mobile manipulator-on-a-cart systems. The artifact, which is re-configurable, simulates mock-assembly tasks for manufacturing applications, and is compared to a ground truth consisting of an optical tracking system (OTS). This report documents experimental procedures, data analysis methods, and results in measuring the performance of the manipulator-on-a-cart system. The speed and accuracy of two example coordinate registration techniques to be used by the mobile manipulator-on-a-cart to reduce position and orientation uncertainty are also compared.

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Mobile manipulator performance measurement data

Cited by 4 publications

References 6 publications

Performance Measurement of a Mobile Manipulator-on-a-Cart and Coordinate Registration Methods for Manufacturing Applications

Performance Measurement of a Mobile Manipulator-on-a-Cart and Coordinate Registration Methods for Manufacturing Applications

Design and implementation of a closed-loop mobile manipulator control system

Performance measurement of a mobile manipulator-on-a-cart and coordinate registration methods for manufacturing applications

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