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Mobile Robot and Mobile Manipulator Research Towards ASTM Standards Development.

Roger Bostelman^1,2, Tsai Hong¹, Steven Legowik¹

¹National Institute of Standards and Technology, Engineering Laboratory, Intelligent Systems Division, 100 Bureau Drive, MS8230, Gaithersburg, MD 20899.

Proceedings of Spie--The International Society for Optical Engineering

|July 11, 2017

Summary

New performance standards are being developed for industrial mobile robots and mobile manipulators. These standards will enable low-cost, standardized measurements for system characterization and comparison.

Keywords:

artifact ground truth mobile manipulator reproducible performance smart manufacturing test methods

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Area of Science:

Robotics and Automation
Industrial Engineering
Metrology and Measurement Science

Background:

Performance standards for industrial mobile robots and mobile manipulators are emerging.
There is a need for low-cost, standardized measurement techniques to assess robot performance, facilitate comparisons, and guide recalibration.
Existing measurement systems can be expensive, necessitating cost-effective alternatives.

Purpose of the Study:

To discuss the development of performance standards for industrial mobile robots and mobile manipulators.
To introduce terminology and navigation performance test methods being developed within ASTM Committee F45.
To present low-cost artifact-based measurement methods as alternatives to expensive systems.

Main Methods:

Review of ongoing standards development work at the National Institute of Standards and Technology (NIST).
Examination of standards within ASTM Committee F45, specifically Subcommittee F45.02 (Navigation Performance Test Methods) and F45.91 (Terminology).
Description of proposed navigation and docking test methods, including the use of low-cost artifacts.

Main Results:

Key terms relevant to industrial mobile robot performance are being defined.
Navigation performance test methods are nearing ballot.
Docking test methods are under design, incorporating low-cost measurement artifacts.

Conclusions:

Standardized performance evaluation is crucial for the advancement of industrial mobile robotics.
The development of low-cost measurement techniques and artifacts will improve accessibility and comparability of robot performance data.
ASTM Committee F45 is actively working on essential standards for terminology, navigation, and docking.