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Survey of Research for Performance Measurement of Mobile Manipulators



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


This survey provides the basis for developing research in the area of mobile manipulator performance measurement, an area that has relatively few research articles, as com-pared to other mobile manipulator research areas. The survey begins with a literature review of mobile manipulator research with examples of experimental applications and an extensive list of planning and control references as this has been the major research focus for mobile manipulators and may factor into their performance measurement. The survey then reviews performance metrics considered for mobile robots, robot arms, and mobile manipulators and the systems that measure their performance, including machine tool measurement systems through dynamic motion tracking systems. Lastly, the survey includes a section on research that has occurred for performance measurement of robots, mobile robots, and mobile manipulators beginning with calibration, standards, and mobile manipulator artifacts that are being considered for evaluation of mobile manipulator performance.
Journal of Research (NIST JRES) -


survey, mobile manipulator, performance measurement, AGV, standards, patents


Bostelman, R. , Hong, T. and Marvel, J. (2016), Survey of Research for Performance Measurement of Mobile Manipulators, Journal of Research (NIST JRES), National Institute of Standards and Technology, Gaithersburg, MD, [online], (Accessed July 19, 2024)


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Created June 30, 2016, Updated November 10, 2018