en fr Mobile Manipulator Performance Measurement Towards Manufacturing Assembly Tasks Mesure de la performance du manipulateur mobile vers la fabrication des tâches dassemblage Report as inadecuate




en fr Mobile Manipulator Performance Measurement Towards Manufacturing Assembly Tasks Mesure de la performance du manipulateur mobile vers la fabrication des tâches dassemblage - Download this document for free, or read online. Document in PDF available to download.

1 Le2i - Laboratoire Electronique, Informatique et Image 2 NIST - National Institute of Standards and Technology Gaithersburg 3 Qatar University 4 UB - Université de Bourgogne

Abstract : Mobile manipulator performance measurement research is relatively minimal as compared to that of robot arms. Measurement methods, such as optical tracking systems, are useful for measuring the performance of mobile ma-nipulators, although at a much higher relative cost as compared to artifacts. The concept of using test artifacts demonstrates to potential manufacturers and users of mobile manipulator systems that relatively low cost performance measurement methods exist. This paper discusses the concept of reconfigurable mobile ma-nipulator artifacts that were designed and built. An artifact was then used through experimentation to measure the performance of a mobile manipulator to demonstrate the feasibility of the test method. Experimental results show a promising test method to measure the performance of mobile manipulators that are to be used for manufacturing assembly tasks, where at least the mobile manipulator tested has the capability to perform assembly to 1 mm positional accuracy or greater.

Keywords : mobile manipulator performance measurement ASTM F45 arti- facts ground truth





Author: Roger Bostelman - Sebti Foufou - Steve Legowik - Tsai Hong -

Source: https://hal.archives-ouvertes.fr/



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