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Benchmarking Robot Force Control Capabilities: Experimental Results

Published

Author(s)

Joseph A. Falco, Jeremy A. Marvel, Richard J. Norcross, Karl Van Wyk

Abstract

Metrics and test methods are needed to characterize the control capabilities of robots with both intrinsic and extrinsic force sensing. The availability of these benchmarks will motivate research product development, and provide a mechanism for reporting and evaluating systems for the application space. This report presents a preliminary set of metrics and associated test methods with illustrative examples for assessing the performance of force-based robot control.
Citation
NIST Interagency/Internal Report (NISTIR) - 8097
Report Number
8097

Keywords

Performance Measures, Force Control, Robotics

Citation

Falco, J. , Marvel, J. , Norcross, R. and Van, K. (2016), Benchmarking Robot Force Control Capabilities: Experimental Results, NIST Interagency/Internal Report (NISTIR), National Institute of Standards and Technology, Gaithersburg, MD, [online], https://doi.org/10.6028/NIST.IR.8097 (Accessed February 24, 2024)
Created January 7, 2016, Updated November 10, 2018