ASTM WK83858
New Practice for Measuring Mobile Manipulator Performance: Non-continuous Tasks
1. Scope
This practice describes accepted procedures for measuring the performance of a single mobile manipulator in executing tasks that are non-continuous with respect to the mobile manipulator. The information contained in this practice provides instructions, with references to appropriate existing standards, for documenting the mobile manipulator performance test configuration, defining the industrial task requirements, selecting non-continuous performance test metrics, including those derived from binary (i.e., pass/fail) and quantitative (i.e., interval/ratio) measurements, describing the general measurement procedure steps, and reporting performance measurement results.Keywords
Automatic, Automated, or Autonomous Uncrewed Ground Vehicle (A-UGV); Configurable Mobile Manipulator Apparatus (CMMA); Manipulator; Mobile Manipulator Performance; Non-continuous Task; Discrete pose-constrained taskRationale
This standard practice is intended for use by mobile manipulator manufacturers, suppliers, integrators, and end-users in either a laboratory or manufacturing environments to measure the performance of a single mobile manipulator in executing tasks that are non-continuous with respect to the mobile manipulator. For the purposes of this practice, “non-continuous tasks” are limited to those in which the A-UGV and manipulator are not in simultaneous motion while physically connected. The following scenarios are currently not considered under this standard, but may be addressed by a future standard or revision to this standard: 1) Tasks that are continuous with respect to the mobile manipulator, 2) performance of mobile manipulator fleets, and 3) the workpiece being moved or disturbed during a test repetition, though the workpiece may be moved in between test repetitions.
Work Item Status
Date Initiated: 10-20-2022
Technical Contact: Omar Aboul-Enein
Item: 000
Ballot:
Status: