Skip to main content
U.S. flag

An official website of the United States government

Dot gov

The .gov means it’s official.
Federal government websites often end in .gov or .mil. Before sharing sensitive information, make sure you’re on a federal government site.

Https

The site is secure.
The https:// ensures that you are connecting to the official website and that any information you provide is encrypted and transmitted securely.

Mobile Manipulator Performance Measurement Data

mobile manipulator

An advanced approach to flexible manufacturing is to move robotic manipulators, using an AGV or mobile robot, called mobile manipulators, between workstations. Mobile manipulator performance test methods have lagged behind safety test methods. Prior to industrial acceptance and standards development for mobile manipulators, users of these new systems will expect manufacturers to provide real performance data to guide their procurement and assure suitability for given application tasks.   A test method that uses an artifact, called the Reconfigurable Mobile Manipulator Artifact (RMMA), is described in “Mobile Manipulator Performance Measurement Data” and compared to an optical tracking system that was used as ground truth for the RMMA and mobile manipulator.  Measurement data of an AGV, an onboard robot arm, and an optical tracking system were recorded and are described in the paper and are available for download using the link below. The data needed to make these three measurements was collected during two tests; both tests have corresponding timestamps relative to global positioning system (GPS) time, where the computer clocks are synchronized using the Network Time Protocol. It is expected that the user of the information within the paper and the data files will have sufficient knowledge to implement mobile manipulation testing and evaluation.

Download Data Sets

 

Created June 27, 2017, Updated November 15, 2019