Comparison of Registration Methods for Mobile Manipulators

Published

September 15, 2016

Author(s)

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

Abstract

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, UK

Pub Type

Conferences

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Keywords

performance measurement, mobile manipulator, artifact, docking, standards, assembly

Citation

Bostelman, R. , Eastman, R. , Hong, T. , Aboul-Enein, O. , Legowik, S. and Foufou, S. (2016), Comparison of Registration Methods for Mobile Manipulators, Climbing and Walking Robots (CLAWAR) 2016 Workshop on Collaborative Robots for Industrial Applications, London, UK, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=921002 (Accessed December 6, 2024)