Mobile Manipulator Performance Measurement Data

An advanced approach to flexible manufacturing is to move robotic manipulators
(also referred to as industrial arms), using an AGV or mobile robot, between workstations.
This integrated system is referred to as a mobile manipulator. Prior to industrial acceptance
and standards development for mobile manipulators, users of these new systems will expect
manufacturers to provide real performance data to guide their procurement and assure
suitability for given application tasks. A test method that uses an artifact, called the
Reconfigurable Mobile Manipulator Artifact (RMMA), is described in [Bostelman RV, Li-Baboud Y,
Legowik S, Hong TH, Foufou S., \"Mobile Manipulator Performance Measurement Data\". 2017 Jun
27] and compared to an optical tracking system that was used as ground truth for the RMMA and
mobile manipulator. Measurement data of an AGV, an onboard robot arm, and an optical tracking
system were recorded and are described in the paper and are available for download using the
link available in this record. 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.
It is expected that the user of the information within the paper and the data files will have
sufficient knowledge to implement mobile manipulation testing and evaluation.