TY - GEN
T1 - Modeling Performance Measurement of Mobile Manipulators
AU - Bostelman, Roger
AU - Foufou, Sebti
AU - Hong, Tsai
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2018/8/24
Y1 - 2018/8/24
N2 - Mobile manipulators are being marketed around the world as single manufacturer systems (i.e., robot arm and vehicle manufactured by the same organization) and as independent robot arms, from a different manufacturer and integrated with automatic guided vehicles (AGVs) or mobile robots. Test methods for measuring safety and performance of either of these types of mobile manipulators have yet to be developed and therefore, potential users cannot compare one system to another to match to tasks. Similarly, the control of these systems can vary greatly from AGV control to more autonomous mobile robot control and further, to robot arm control methods. Systems Modeling Language (SysML) is a general-purpose modeling language for systems engineering applications that supports the specification, analysis, design, verification, and validation of simple through complex systems, such as mobile manipulators. This paper uses SysML to describe a method using an artifact for performance measurement of mobile manipulators performing assembly tasks. Uncertainty propagation, a key component in understanding the effects of mobile manipulator constraints, is also modeled and described.
AB - Mobile manipulators are being marketed around the world as single manufacturer systems (i.e., robot arm and vehicle manufactured by the same organization) and as independent robot arms, from a different manufacturer and integrated with automatic guided vehicles (AGVs) or mobile robots. Test methods for measuring safety and performance of either of these types of mobile manipulators have yet to be developed and therefore, potential users cannot compare one system to another to match to tasks. Similarly, the control of these systems can vary greatly from AGV control to more autonomous mobile robot control and further, to robot arm control methods. Systems Modeling Language (SysML) is a general-purpose modeling language for systems engineering applications that supports the specification, analysis, design, verification, and validation of simple through complex systems, such as mobile manipulators. This paper uses SysML to describe a method using an artifact for performance measurement of mobile manipulators performing assembly tasks. Uncertainty propagation, a key component in understanding the effects of mobile manipulator constraints, is also modeled and described.
UR - http://www.scopus.com/inward/record.url?scp=85052891829&partnerID=8YFLogxK
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U2 - 10.1109/CYBER.2017.8446329
DO - 10.1109/CYBER.2017.8446329
M3 - Conference contribution
AN - SCOPUS:85052891829
SN - 9781538604892
T3 - 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
SP - 300
EP - 305
BT - 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
Y2 - 31 July 2017 through 4 August 2017
ER -