Comparison of Registration Methods for Mobile Manipulators

Published: September 16, 2016


Roger V. Bostelman, Roger Eastman, Tsai H. Hong, Omar A. Enein, Steven A. Legowik, Sebti Foufou


Mobile manipulators can be effective, efficient and flexible for automation on the factory floor but will need safety and performance standards for wide adoption. This paper looks at a specific area of performance standards [1] for docking and workpiece registration, with the intent of evaluating how quickly, repeatably, and accurately a mobile manipulator end effector can be aligned with a known physical target to facilitate peg-in-hole insertion tasks. To evaluate mobile manipulator docking, we conducted experiments with an AGV-mounted arm in a laboratory space equipped with an extensive optical tracking system and a standardized test piece (artifacts) simulating an industrial assembly. We experimented with different strategies and sensors for registration and report on these approaches.
Proceedings Title: Climbing and Walking Robots (CLAWAR) 2016 Workshop on Collaborative Robots for Industrial Applications
Conference Dates: September 12-16, 2016
Conference Location: London, -1
Pub Type: Conferences

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performance measurement, mobile manipulator, artifact, docking, standards, assembly
Created September 16, 2016, Updated October 20, 2017