Comparison of registration methods for mobile manipulators
Author | BOSTELMAN, ROGER |
Author | EASTMAN, ROGER |
Author | HONG, TSAI |
Author | ENEIN, OMAR ABOUL |
Author | LEGOWIK, STEVEN |
Author | FOUFOU, SEBTI |
Available date | 2021-09-08T06:49:43Z |
Publication Date | 2016 |
Publication Name | Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016 |
Resource | Scopus |
Abstract | Mobile manipulators can be effective, efficient, and flexible for automation on the factory floor but will need safety and performance standards for wide adoption. This paper looks at a specific area of performance standards [1] for docking and workpiece registration, with the intent of evaluating how quickly, repeatably, and accurately a mobile manipulator end effector can be aligned with a known physical target to facilitate peg-inhole insertion tasks. To evaluate mobile manipulator docking, we conducted experiments with an automated guided vehicle (AGV)-mounted arm in a laboratory space equipped with an extensive optical tracking system and a standardized test piece (artifact) simulating an industrial assembly. We experimented with different strategies and sensors for registration and report on these approaches. 2016, World Scientific Publishing Co. Pte Ltd. All rights reserved. |
Language | en |
Publisher | World Scientific Publishing Co. Pte Ltd |
Subject | Automatic guided vehicles Docking Industrial manipulators Mobile robots Automated guided vehicles Industrial assemblies Mobile manipulator Optical tracking systems Performance standards Registration methods Safety and performance standards Workpiece registrations Manipulators |
Type | Conference Paper |
Pagination | 205-213 |
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Computer Science & Engineering [2202 items ]