Search results for "Mobile manipulator"
showing 10 items of 10 documents
Mobile manipulator performance measurement towards manufacturing assembly tasks
2016
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 demonstrat…
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.
Mobile Robot and Mobile Manipulator Research Towards ASTM Standards Development
2016
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 de…
State Estimation of a Mobile Manipulator via Non-uniformly Sampled Position Measurements
2011
Abstract We derive an exact deterministic nonlinear estimator to compute the continuous state of a nonlinear time-varying system based on discrete, non uniformly time spaced, state measurements. The system consists of a robot arm mounted on a mobile non holonomic vehicle. The paper also discusses the effect on the estimation error of a bounded input additive noise.
Wireless HROV Control with Compressed Visual Feedback Using Acoustic and RF Links
2020
AbstractUnderwater cooperative robotics offers the possibility to perform challenging intervention applications, such as recovering archeological objects as within the context of the MERBOTS research project, or grasping, transporting and assembly of big objects, using more than one mobile manipulator, as faced by the TWINBOT project. In order to enhance safety during the intervention, it is reasonable to avoid the umbilical, also giving more mobility to the robots, and enabling a broader set of cooperative movements. Several solutions, based on acoustic, radiofrequency (RF) or Visual Light Communication (VLC) have been proposed for underwater communications in the literature. This paper pr…
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…
Mesure de la performance des manipulateurs mobiles
2018
An advanced approach to flexible manufacturing is to move robotic manipulators, using anAGV or mobile robot, called mobile manipulators, between workstations. The use ofmobile manipulators can be advantageous in a number of situations. It can result in costsavings when a single mobile manipulator can be used to replace several stationarymanipulators. However, mobile manipulators are “a relatively young discipline withinrobotics.” An extensive literature review of the research leading to commercial mobilemanipulators and mobile robots was performed. The performance measurement of mobilemanipulators, including a mobile base with an onboard robot arm, is virtually non-existent.However, mobile …
Multi-agent control architecture for RFID cyberphysical robotic systems initial validation of tagged objects detection and identification using Playe…
2016
International audience; The objective of this paper is to describe and validate a multi-agent architecture proposed to control RFID Cyber-Physical Robotic Systems. This environment may contain human operators, robots (mobiles, manipulators, mobile manipulators, etc.), places (workrooms, walls, etc.) and other objects (tables, chairs, etc.). The proposed control architecture is composed of two types of agents dispatched on two levels. We find at the Organization level a Supervisory agent to allow operators to configure, manage and interact with the overall control system. At the Control level, we distinguish the Robots agents, to each robot (mobiles, manipulators or mobile manipulators) is a…
Test Methods for the Evaluation of Manufacturing Mobile Manipulator Safety
2016
International audience; This paper presents a test methodology for evaluating the safety of mobile manipulators (robot arms mounted on mobile bases). This methodology addresses the safety concerns relevant to modern, agile, manufacturing practices in which mobile manipulators will play a significant role. We consider 1) the unique capabilities and anticipated uses of mobile manipulators and 2) the potential exemptions and special cases in which their behavior may be unpredictable or otherwise contrary to the safety requirements. Finally, we define metrics for assessing compliance with functional safety requirements and anticipated performance.
Survey of Research for Performance Measurement of Mobile Manipulators
2016
International audience; This survey provides the basis for developing research in the area of mobile manipulator performance measurement, an area that has relatively few research articles when compared to other mobile manipulator research areas. The survey provides a literature review of mobile manipulator research with examples of experimental applications. The survey also provides an extensive list of planning and control references as this has been the major research focus for mobile manipulators which factors into performance measurement of the system. The survey then reviews performance metrics considered for mobile robots, robot arms, and mobile manipulators and the systems that measu…