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Performance Measurement of Mobile Manipulators



Roger V. Bostelman, Tsai Hong Hong, Jeremy A. Marvel


This paper describes a concept for measuring the reproducible performance of mobile manipulators to be used for assembly or other similar tasks. An AGV with an onboard robot arm was programmed to repeatedly move to and stop at a novel, reconfigurable mobile manipulator artifact (RMMA), sense the RMMA, and repeatedly detect targets on the RMMA. The manipulator moved a laser retroreflective sensor to detect small reflectors that can be reconfigured to measure various manipulator positions and orientations (poses). Also described is calibration of a multi-camera, motion capture system using a degree-of-freedom metrology bar and then used as a ground truth measurement device for validation of the reproducible mobile manipulator experiments and test method. Static performance measurement of a mobile manipulator using the RMMA proved useful for relatively high tolerance pose estimation and other metrics that will also aid in standard test method development for indexed and dynamic mobile manipulator applications.
Proceedings Title
Conference Dates
April 20-24, 2015
Conference Location
Baltimore, MD


mobile manipulator, reproducible performance, smart manufacturing, ground truth, test methods, artifact


Bostelman, R. , , T. and Marvel, J. (2015), Performance Measurement of Mobile Manipulators, SPIE-DDS, Baltimore, MD, [online], (Accessed April 19, 2024)
Created April 24, 2015, Updated February 19, 2017