Work Item
ASTM WK83858

New Practice for Measuring Mobile Manipulator Performance: Static/Indexed Tasks

1. Scope

The purpose of this practice is to describe instructions and options for measuring the static/indexed task performance of a single mobile manipulator. For the purposes of this practice, a “mobile manipulator” is a robotic system that features a manipulator using an Automatic, Automated, or Autonomous Unmanned Ground Vehicle (A-UGV) to move between locations (e.g., a manipulator mounted on the A-UGV or a detachable payload structure) and “static/indexed performance” encompasses situations in which the manipulator and A-UGV of a mobile manipulator shall not be in simultaneous motion while physically connected as a single unit. The information contained in this practice includes a summary of example measurement methods (e.g., the Static Configurable Mobile Manipulator Apparatus or other external metrology devices and/or apparatuses), performance metrics, including binary (i.e., pass/fail) and quantitative (i.e., interval/ratio), and evaluation scenarios (e.g., peg-in-hole assembly performance, impact of environmental conditions / communication impairments, impact of workspace/workpiece disturbances, etc.). Example metrics may also include, but are not limited to, mobile manipulator pose repeatability/accuracy, stability, cycle time, workspace/workpiece registration speed/accuracy, etc. Future standards and/or revisions may address continuous performance, which encompasses situations in which the manipulator and the A-UGV of the mobile manipulator shall be in simultaneous motion while physically connected as a single unit, and more than one mobile manipulator (i.e., fleets).


Mobile Manipulator; Static/Indexed Mobile Manipulator Performance; Configurable Mobile Manipulator Apparatus (CMMA); Automatic, Automated, or Autonomous-Unmanned Ground Vehicle (A-UGV); Manipulator; Peg-in-hole Assembly.


This practice describes an accepted procedure for measuring the static/indexed performance of mobile manipulators and is intended for use by mobile manipulator manufacturers, suppliers, integrators, and end-users to verify that mobile manipulator operations meet their specified performance requirements.

The title and scope are in draft form and are under development within this ASTM Committee.


Developed by Subcommittee: F45.05

Committee: F45

Staff Manager: Nora Nimmerichter

Work Item Status

Date Initiated: 10-20-2022

Technical Contact: Omar Aboul-Enein

Item: 000