19 May 2016 Mobile robot and mobile manipulator research towards ASTM standards development
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Abstract
Performance standards for industrial mobile robots and mobile manipulators (robot arms onboard mobile robots) have only recently begun development. Low cost and standardized measurement techniques are needed to characterize system performance, compare different systems, and to determine if recalibration is required. This paper discusses work at the National Institute of Standards and Technology (NIST) and within the ASTM Committee F45 on Driverless Automatic Guided Industrial Vehicles. This includes standards for both terminology, F45.91, and for navigation performance test methods, F45.02. The paper defines terms that are being considered. Additionally, the paper describes navigation test methods that are near ballot and docking test methods being designed for consideration within F45.02. This includes the use of low cost artifacts that can provide alternatives to using relatively expensive measurement systems.
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Roger Bostelman, Roger Bostelman, Tsai Hong, Tsai Hong, Steven Legowik, Steven Legowik, } "Mobile robot and mobile manipulator research towards ASTM standards development", Proc. SPIE 9872, Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2016, 98720F (19 May 2016); doi: 10.1117/12.2228464; https://doi.org/10.1117/12.2228464
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