0000000000613039
AUTHOR
Tsai Hong
showing 4 related works from this author
Intelligence Level Performance Standards Research for Autonomous Vehicles
2015
International audience; United States and European safety standards have evolved to protect workers near AutomaticGuided Vehicles (AGVs). However, performance standards for AGVs and mobile robots have only recently begun development. Lessons can be learned from research and standards effortsfor mobile robots applied to emergency response and military applications. Research challenges, tests and evaluations, and programs to develop higher intelligencelevelsfor vehicles can also be used to guide industrial AGV developments towards more adaptable and intelligent systems. These other efforts also provide useful standards development criteria for AGV performance test methods. Current standards a…
Performance Measurements of Motion Capture Systems used for AGV and Robot Arm Evaluation
2016
International audience; Multi-camera motion capture systems are commercially available and are typically used in the entertainment industry to track human motions for video gaming and movies. These systems are proving useful as ground truth measurement systems to assess the performance of robots and autonomous ground vehicles. However, to be used as a ground truth system, their calibration is critical in order to achieve the accuracies required to measure the systems under test.This paper describes a test method to validate the capabilities of two motion capture systems. The first is being used as ground truth for an automatic guided vehicle (AGV) with an onboard robot arm (mobile manipulat…
Performance Measurement of Mobile Manipulators
2015
International audience; This paper describes a concept for measuring the reproducible performance of mobile manipulators to be used for assembly or other similar tasks. An automatic guided vehicle with an onboard robot arm was programmed to repeatedly move to and stop at a novel, reconfigurable mobile manipulator artifact (RMMA), sense the RMMA, and detect targets on the RMMA. The manipulator moved a laser retroreflective sensor to detect small reflectors that can be reconfigured to measure various manipulator positions and orientations (poses). This paper describes calibration of a multi-camera,motion capture system using a 6 degree-of-freedom metrology bar and then using the camera system…
Sensor Calibration and Registration for Mobile Manipulators
2016
International audience; —This paper describes the methods used to register a mobile manipulator to a workstation to perform assembly tasks. The nonlinear, least square model of the system is formulated and Ceres Solver is used to compute the position of the robot arm relative to the mobile base. The use of non-contact fiducials to test the accuracy and repeatability of the mobile manipulator positioning in the context of an assembly operation is also discussed. Using mathematical methods and indirect measurements it is possible to compute the offset between physical components of the system where direct measurement is not feasible.