Mobile manipulator performance measurement towards manufacturing assembly tasks

Roger Bostelman, Sebti Foufou, Steve Legowik, Tsai Hong Hong

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

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 manipulators, 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 manipulator 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.

Original languageEnglish (US)
Title of host publicationProduct Lifecycle Management for Digital Transformation of Industries - 13th IFIP WG 5.1 International Conference, PLM 2016, Revised Selected Papers
EditorsBenoit Eynard, Abdelaziz Bouras, Alain Bernard, Louis Rivest, Ramy Harik
PublisherSpringer New York LLC
Pages411-420
Number of pages10
ISBN (Print)9783319546599
DOIs
StatePublished - 2016
Event13th IFIP WG 5.1 International Conference on Product Lifecycle Management for Digital Transformation of Industries, PLM 2016 - Columbia, United States
Duration: Jul 11 2016Jul 13 2016

Publication series

NameIFIP Advances in Information and Communication Technology
Volume492
ISSN (Print)1868-4238

Other

Other13th IFIP WG 5.1 International Conference on Product Lifecycle Management for Digital Transformation of Industries, PLM 2016
CountryUnited States
CityColumbia
Period7/11/167/13/16

Keywords

  • ASTM F45
  • Artifacts
  • Ground truth
  • Mobile manipulator
  • Performance measurement

ASJC Scopus subject areas

  • Information Systems
  • Computer Networks and Communications
  • Information Systems and Management

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  • Cite this

    Bostelman, R., Foufou, S., Legowik, S., & Hong, T. H. (2016). Mobile manipulator performance measurement towards manufacturing assembly tasks. In B. Eynard, A. Bouras, A. Bernard, L. Rivest, & R. Harik (Eds.), Product Lifecycle Management for Digital Transformation of Industries - 13th IFIP WG 5.1 International Conference, PLM 2016, Revised Selected Papers (pp. 411-420). (IFIP Advances in Information and Communication Technology; Vol. 492). Springer New York LLC. https://doi.org/10.1007/978-3-319-54660-5_37