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