TY - GEN
T1 - Comparison of registration methods for mobile manipulators
AU - Bostelman, Roger
AU - Eastman, Roger
AU - Hong, Tsai
AU - Enein, Omar Aboul
AU - Legowik, Steven
AU - Foufou, Sebti
N1 - Publisher Copyright:
© 2016, World Scientific Publishing Co. Pte Ltd. All rights reserved.
PY - 2016
Y1 - 2016
N2 - Mobile manipulators can be effective, efficient, and flexible for automation on the factory floor but will need safety and performance standards for wide adoption. This paper looks at a specific area of performance standards [1] for docking and workpiece registration, with the intent of evaluating how quickly, repeatably, and accurately a mobile manipulator end effector can be aligned with a known physical target to facilitate peg-inhole insertion tasks. To evaluate mobile manipulator docking, we conducted experiments with an automated guided vehicle (AGV)-mounted arm in a laboratory space equipped with an extensive optical tracking system and a standardized test piece (artifact) simulating an industrial assembly. We experimented with different strategies and sensors for registration and report on these approaches.
AB - Mobile manipulators can be effective, efficient, and flexible for automation on the factory floor but will need safety and performance standards for wide adoption. This paper looks at a specific area of performance standards [1] for docking and workpiece registration, with the intent of evaluating how quickly, repeatably, and accurately a mobile manipulator end effector can be aligned with a known physical target to facilitate peg-inhole insertion tasks. To evaluate mobile manipulator docking, we conducted experiments with an automated guided vehicle (AGV)-mounted arm in a laboratory space equipped with an extensive optical tracking system and a standardized test piece (artifact) simulating an industrial assembly. We experimented with different strategies and sensors for registration and report on these approaches.
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U2 - 10.1142/9789813149137_0026
DO - 10.1142/9789813149137_0026
M3 - Conference contribution
AN - SCOPUS:84999666578
SN - 9789813149120
T3 - Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016
SP - 205
EP - 213
BT - Advances in Cooperative Robotics
PB - World Scientific Publishing Co. Pte Ltd
T2 - 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016
Y2 - 12 September 2016 through 14 September 2016
ER -