Mobile manipulator performance measurement data

Abstract

The National Institute of Standards and Technology, Intelligent Systems Division has collected data measuring the performance of a mobile manipulator; i.e., an automatic guided vehicle (AGV) 1 with onboard robot arm, from two different manufacturers. The performance measurement concept uses a novel artifact and method that have been verified using an optical tracking system (OTS), which can measure AGV position, manipulator motion, and position uncertainty. The data needed to make these three measurements was collected during two tests; both tests have corresponding timestamps relative to global positioning system (GPS) time, where the computer clocks are synchronized using the Network Time Protocol. This paper provides detailed explanation of the data from mobile-manipulator, performance-measurement tests. It is expected that the user of the information within this document and the data files that accompany this document will have sufficient knowledge to implement mobile manipulation testing and evaluation.