Comparison of registration methods for mobile manipulators

Roger Bostelman, Roger Eastman, Tsai Hong, Omar Aboul Enein, Steven Legowik, Sebti Foufou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationAdvances in Cooperative Robotics
Subtitle of host publicationProceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016
PublisherWorld Scientific Publishing Co. Pte Ltd
Pages205-213
Number of pages9
ISBN (Print)9789813149120
DOIs
StatePublished - 2016
Event19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016 - London, United Kingdom
Duration: Sep 12 2016Sep 14 2016

Publication series

NameAdvances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016

Other

Other19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016
CountryUnited Kingdom
CityLondon
Period9/12/169/14/16

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Artificial Intelligence

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  • Cite this

    Bostelman, R., Eastman, R., Hong, T., Enein, O. A., Legowik, S., & Foufou, S. (2016). Comparison of registration methods for mobile manipulators. In Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016 (pp. 205-213). (Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016). World Scientific Publishing Co. Pte Ltd. https://doi.org/10.1142/9789813149137_0026