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Test Methods for the Evaluation of Manufacturing Mobile Manipulator Safety



Jeremy A. Marvel, Roger V. Bostelman


A test methodology for evaluating the safety of mobile manipulators (robot arms mounted on mobile bases) is presented. This methodology addresses the safety concerns relevant to modern, agile manufacturing practices in which mobile manipulators are expected to play a significant role. Considerations for the unique capabilities and anticipated uses of mobile manipulators are provided, as are potential exemptions and special cases in which the behavior of a mobile manipulator may be unpredictable or otherwise contrary to the safety requirements. Metrics are defined for assessing compliance with functional safety requirements and anticipated performance.
Journal of Robotics and Mechatronics


mobile manipulators, AGV safety, robot safety


Marvel, J. and Bostelman, R. (2016), Test Methods for the Evaluation of Manufacturing Mobile Manipulator Safety, Journal of Robotics and Mechatronics, [online], (Accessed May 25, 2024)


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Created April 20, 2016, Updated November 10, 2018