COMPARISON OF REGISTRATION METHODS FOR MOBILE MANIPULATORS
| Affiliation auteurs | !!!! Error affiliation !!!! |
| Titre | COMPARISON OF REGISTRATION METHODS FOR MOBILE MANIPULATORS |
| Type de publication | Conference Paper |
| Year of Publication | 2017 |
| Auteurs | Bostelman R, Eastman R, Hong T, Enein OAboul, Legowik S, Foufou S |
| Editor | Tokhi MO, Virk GS |
| Conference Name | ADVANCES IN COOPERATIVE ROBOTICS |
| Publisher | CLAWAR Assoc; Queen Mary Univ London; London S Bank Univ; Univ Sheffield; Kings Coll London |
| Conference Location | PO BOX 128 FARRER RD, SINGAPORE 9128, SINGAPORE |
| ISBN Number | 978-981-3149-12-0 |
| Résumé | 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-in-hole 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. |