Survey of Research for Performance Measurement of Mobile Manipulators

Abstract

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.

Collaborative mobile industrial manipulator: A review of system architecture and applications

“…According to that, the research could improve the performance directionally. In future, the performance measurement methods and standards especially for mobile manipulator need to be researched [41]. Standardized system is more straightforward to understand the design and could improve the efficiency.…”

Performance measurement of mobile manipulators

“…Other areas of mobile manipulator research have been application-oriented, such as trajectory planning for a mobile manipulator with stability considerations and task planning, such as opening doors. [3] However, generalized measurement of mobile manipulators performing routine tasks (e.g., moving to different poses and generating motion profiles) has been relatively non-existent except for simply ensuring that the task is more or less completed. Prior to industrial acceptance for mobile manipulators, just as with their base components of industrial robot arms and automated guided vehicles (AGVs), these new mobile manipulator systems require their manufacturers to have real, verifiable performance data so users can apply these technologies appropriately.…”

Mobile manipulator performance measurement data

“…Making ground-truth measurements using different motion-tracking systems provides robot-joint, segment, and tool-point position information. This information is accurate enough to make comparisons to the commanded pose summarizing review of robot, mobile robot, and mobile manipulator performance measurement research shows this as being relatively new to the research community [1]. The National Institute of Standards and Technology (NIST) Robotic Systems for Smart Manufacturing (RSSM) Program [2] has been researching methods for measuring the performance of mobile manipulators for several years.…”