Model of Mobile Manipulator Performance Measurement using SysML

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

doi:10.1007/s10846-017-0705-4

Cited by 6 publications

(5 citation statements)

References 7 publications

(5 reference statements)

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“…The experiment validated the RMMA measurement method using the mobile base and manipulator controller logs and compared the logged measurements with the OTS measurements. Additionally, the measurement method using the RMMA and verified with OTS measurements, as modeled in [18], could be applied in-situ for mobile manipulator performance measurement during manufacturing. The results from the study indicate there may be additional parameters contributing to a manipulator's positioning precision due to properties of individual system components and environmental conditions on the performance of advanced mobile manipulator systems.…”

Section: Discussionmentioning

confidence: 99%

“…Research and development of novel test methods for mobile manipulators include the integration and comparison of: 1) the development of an optical tracking system (OTS) measurement method [16] as a means of establishing ground truth for mobile robot and manipulator positioning uncertainty, coordination between the manipulator and the vehicle and repeatability; 2) the development of a test method simulating flexible, reconfigurable manufacturing tasks that includes a relatively inexpensive reconfigurable mobile manipulator artifact (RMMA), as compared to an OTS, for use in measuring performance of mobile robots with an onboard manipulator [16]; and 3) the development of an analytical model for characterizing the measurement uncertainty of the RMMA to measure mobile manipulator performance using the OTS measurements as the ground truth [18]. Simulated and experimental test methods of applying RMMAs were developed for testing an AGV-based mobile manipulator's ability to locate the target, with measurement of position and alignment accuracy [6][17] [26].…”

Section: Prior Workmentioning

confidence: 99%

“…If LR1 was detected immediately, no coarse search method was required. Subsequently, a bisect search method of 0.5 mm steps was used to determine LR1's center [18].…”

Section: Test Proceduresmentioning

confidence: 99%

See 2 more Smart Citations

Towards Measurement of Advanced Mobile Manipulator Performance for Assembly Applications

Bostelman¹,

Li-Baboud²,

Yoon³

et al. 2020

Self Cite

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Advanced mobile manipulators offer the manufacturing industry the potential of a highly adaptive system to perform precision assembly tasks in agile environments. Developing performance measurement capabilities for mobile manipulator systems will support the advancement of manipulator-vehicle coordination, precision, accuracy, and robustness. The National Institute of Standards and Technology (NIST) developed a measurement methodology for advanced mobile manipulators, which are mobile robots with an onboard robot arm, each from a different manufacturer and with a different controller. The measurement methodology is designed to assess the performance of mobile manipulators for manufacturing applications such as assembly, where position and orientation accuracy are critically important. The proposed methodology used an artifact designed at NIST to simulate an assembly task station. An optical tracking system measured the location of the targets, the mobile base position and orientation, and the position of a manipulator end-of-arm tool. The experimental data collected, using three different system computers, were timestamped using local clocks synchronized via the NIST internal and local area networks to align the data streams. The mobile manipulator system, the experimental methodology, the data analysis, and the results of the measurement methodology uncertainty and mobile manipulator positioning uncertainty using the novel artifacts are described in this paper. For the system tested, the mobile manipulator detection of 2 mm diameter fiducials can be achieved after registration. With validation from the optical tracking system, the study demonstrated that the Reconfigurable Mobile Manipulator Artifact (RMMA) has potential for serving as a novel standalone, low-cost test method for measuring the positioning uncertainty of mobile manipulators within a measurement uncertainty of 2 mm.

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Section: Discussionmentioning

confidence: 99%

Section: Prior Workmentioning

confidence: 99%

See 1 more Smart Citation

Towards Measurement of Advanced Mobile Manipulator Performance for Assembly Applications

Bostelman¹,

Li-Baboud²,

Yoon³

et al. 2020

Self Cite

View full text Add to dashboard Cite

show abstract

“…The manipulator control system is a complex control system, which integrates many disciplines, such as computer, machinery, control, and electrical disciplines (Bostelman et al, 2018). In recent years, with the development of synchronous sensing technology, it has been gradually applied in the field of scientific research.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Door Opening Control Algorithm of Bio-Inspired Mobile Manipulator Based on Synchronous Sensing

Wu¹,

Liu²

2022

Front. Bioeng. Biotechnol.

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At present, the research of robot door opening method is basically realized by identifying the door handle through the synchronous sensing system on the premise that the bio-inspired mobile manipulator is located in front of the door. An adaptive door opening strategy of a bio-inspired mobile manipulator based on a synchronous sensing system is proposed. Firstly, the random delay distribution in clock synchronization technology is analyzed in detail, and its distribution is verified on the experimental platform of adjacent nodes. Based on the Gaussian distribution of random delay, the relative frequency offset and relative phase offset of adjacent nodes are calculated. The clock synchronization of network cable sensor nodes is realized. Secondly, based on the information data of synchronous sensing system, this article realizes target detection and tracking based on depth network. In addition, based on the sliding mode control theory, the dynamic model of the nonholonomic bio-inspired mobile manipulator is applied. Finally, a robust adaptive sliding mode control method for nonlinear systems with input gain uncertainty and unmatched uncertainty is proposed by combining adaptive backstepping with sliding mode control. By adding sliding mode control in the last step of adaptive backstepping, the uncertainty of the system is compensated, and the system trajectory is maintained on the specified sliding mode manifold. The tracking control and stability control of the nonholonomic bio-inspired mobile manipulator are simulated. The experimental and simulation results show that the control method proposed in this article is effective and feasible.

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“…[6][7][8]. However, improving the accuracy of the kinematic model and avoiding self-collision remain challenging problems in robot operations [9,10]. The resolution of these challenges is extremely promising for the development of mobile manipulator systems.…”

Section: Introductionmentioning

confidence: 99%

Optimizing Kinematic Modeling and Self-Collision Detection of a Mobile Manipulator Robot by Considering the Actual Physical Structure

Qiao

Luo

et al. 2021

Applied Sciences

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In this paper, an optimized kinematic modeling method to accurately describe the actual structure of a mobile manipulator robot with a manipulator similar to the universal robot (UR5) is developed, and an improved self-collision detection technology realized for improving the description accuracy of each component and reducing the time required for approximating the whole robot is introduced. As the primary foundation for trajectory tracking and automatic navigation, the kinematic modeling technology of the mobile manipulator has been the subject of much interest and research for many years. However, the kinematic model established by various methods is different from the actual physical model due to the fact that researchers have mainly focused on the relationship between driving joints and the end positions while ignoring the physical structure. To improve the accuracy of the kinematic model, we present a kinematic modeling method with the addition of key points and coordinate systems to some components that failed to model the physical structure based on the classical method. Moreover, self-collision detection is also a primary problem for successfully completing the specified task of the mobile manipulator. In traditional self-collision detection technology, the description of each approximation is determined by the spatial transformation of each corresponding component in the mobile manipulator robot. Unlike the traditional technology, each approximation in the paper is directly established by the physical structure used in the kinematic modeling method, which significantly reduces the complicated analysis and shortens the required time. The numerical simulations prove that the kinematic model with the addition of key point technology is similar to the actual structure of mobile manipulator robots, and the self-collision detection technology proposed in the article effectively improves the performance of self-collision detection. Additionally, the experimental results prove that the kinematic modeling method and self-collision detection technology outlined in this paper can optimize the inverse kinematics solution.

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Model of Mobile Manipulator Performance Measurement using SysML

Cited by 6 publications

References 7 publications

Towards Measurement of Advanced Mobile Manipulator Performance for Assembly Applications

Towards Measurement of Advanced Mobile Manipulator Performance for Assembly Applications

Adaptive Door Opening Control Algorithm of Bio-Inspired Mobile Manipulator Based on Synchronous Sensing

Optimizing Kinematic Modeling and Self-Collision Detection of a Mobile Manipulator Robot by Considering the Actual Physical Structure

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