6533b82bfe1ef96bd128e1f3

RESEARCH PRODUCT

Mobile Robot and Mobile Manipulator Research Towards ASTM Standards Development

Steven LegowikRoger V. BostelmanTsai Hong

subject

Engineering[ INFO ] Computer Science [cs]reproducible performance02 engineering and technologyArtifact (software development)[INFO] Computer Science [cs]test methods01 natural sciencesArticleTerminology010309 optics0103 physical sciencesPerformance measurement[INFO]Computer Science [cs]smart manufacturingMobile manipulatorbusiness.industryartifactControl engineeringMobile robot021001 nanoscience & nanotechnologyMobile robot navigationRobotNISTmobile manipulator0210 nano-technologybusinessground truth

description

International audience; Performance standards for industrial mobile robots and mobile manipulators (robot arms onboard mobile robots) have only recently begun development. Low cost and standardized measurement techniques are needed to characterize system performance, compare different systems, and to determine if recalibration is required. This paper discusses work at the National Institute of Standards and Technology (NIST) and within the ASTM Committee F45 on Driverless Automatic Guided Industrial Vehicles. This includes standards for both terminology, F45.91, and for navigation performance test methods, F45.02. The paper defines terms that are being considered. Additionally, the paper describes navigation test methods that are near ballot and docking test methods being designed for consideration within F45.02. This includes the use of low cost artifacts that can provide alternatives to using relatively expensive measurement systems.

yearjournalcountryeditionlanguage
2016-04-17
https://hal.archives-ouvertes.fr/hal-01401560/document