Standard Practice for Measuring Mobile Manipulator Performance: Recording the Workpiece Configuration

Importancia y uso:

4.1 This practice is intended for use by mobile manipulator manufacturers, suppliers, integrators, and end-users in either a laboratory or manufacturing environments to document the configuration characteristics of the workpiece used to conduct mobile manipulator performance evaluation. Such characteristics: (1) contextualize the mobile manipulator performance with respect to the workpiece configuration during measurement or test, (2) identify the main adjustable configuration parameters, (3) provide the proper context for mobile manipulator performance measurement or test results, or both, with respect to the workpiece configuration, (4) provide basis of comparison for mobile manipulator performance measurement and/or test circumstances across different workpieces and/or performance measurements/tests, and (5) allow a mobile manipulator performance measurement or test, or both, to be replicated. Note that this practice is intended for use with other related and forthcoming standard practices and test methods for measuring mobile manipulator performance. This practice does not currently consider scenarios in which the workpiece is moved while a test repetition is in progress, though the workpiece may be moved in between test repetitions. A future standard or revision to this standard will consider scenarios in which the workpiece is moved or disturbed during test repetitions.

Subcomité:

F45.05

Volúmen:

15.13

Palabras clave:

automatic, automated, or autonomous-uncrewed ground vehicle (A-UGV); configurable mobile manipulator apparatus (CMMA); continuous mobile manipulator task; discrete pose-constrained task; manipulator; mobile manipulator; non-continuous mobile manipulator task; workpiece;