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.
Roger Bostelman, Sebti Foufou, Steve Legowik, Tsai Hong. Mobile Manipulator Performance Measurement Towards Manufacturing Assembly Tasks. 13th IFIP International Conference on Product Lifecycle Management (PLM16), Jul 2016, Columbia, SC United States. 2017. <hal-01476525>