2
views
0
recommends
+1 Recommend
0 collections
    0
    shares
      • Record: found
      • Abstract: found
      • Article: not found

      Model of Mobile Manipulator Performance Measurement using SysML

      research-article

      Read this article at

      ScienceOpenPublisherPMC
      Bookmark
          There is no author summary for this article yet. Authors can add summaries to their articles on ScienceOpen to make them more accessible to a non-specialist audience.

          Abstract

          Test methods for measuring safety and performance of mobile manipulators have yet to be developed. Therefore, potential mobile manipulator users cannot compare one system to another. Systems Modeling Language (SysML) is a general-purpose modeling language for systems engineering applications that supports the specification, analysis, design, verification, and validation of simple through complex systems, such as mobile manipulators. As test methods are developed to allow performance comparison of the varied mobile manipulators, so to should be the case of allowing comparison of most any mobile manipulator configuration and control strategy during performance measurements. Additionally, mobile manipulator manufacturers and users can then compare these systems to tasks using various methods. This paper uses SysML to describe two measurement methods (optical tracking and artifacts) and the performance measurement of mobile manipulators performing assembly tasks. The SysML models are verified through systems review, referenced experimentation and summarize with uncertainty propagation models of the mobile manipulator.

          Related collections

          Author and article information

          Journal
          101730197
          47776
          J Intell Robot Syst
          J Intell Robot Syst
          Journal of intelligent & robotic systems
          0921-0296
          1573-0409
          13 July 2018
          2018
          13 May 2019
          : 92
          : 10.1007/s10846-017-0705-4
          Affiliations
          [1 ]National Institute of Standards and Technology, Gaithersburg, MD 20899, USA
          [2 ]Le2i, Université de Bourgogne, BP 47870, 21078 Dijon, France
          [3 ]New York University Abu Dhabi, P.O. Box 129188, Computer Science, Abu Dhabi, UAE
          [4 ]Loyola University Maryland, 4501 N. Charles Street, Baltimore, MD 21210, USA
          Author notes
          [* ]Corresponding author: roger.bostelman@ 123456nist.gov
          Article
          PMC6512825 PMC6512825 6512825 nistpa980049
          10.1007/s10846-017-0705-4
          6512825
          31092980
          ae58fdb1-0b16-498b-b578-13a51ce2375f
          History
          Categories
          Article

          mobile manipulator,test methods,performance measurement,standards,control,systems modeling language (SysML)

          Comments

          Comment on this article