Comparison of Registration Methods for Mobile Manipulators
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  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.
Climbing and Walking Robots (CLAWAR) 2016 Workshop on Collaborative Robots for Industrial Applications