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.

柔性制造的一种先进实现路径，是借助自动导引车（Automated Guided Vehicle，AGV）或移动机器人，在各工作站间转运机械臂（robotic manipulator，亦称工业机械臂（industrial arms））。该集成系统被称为移动机械臂系统（mobile manipulator）。在移动机械臂系统获得工业界认可并制定相关行业标准之前，这类新型系统的用户通常会期望制造商提供真实的性能数据，以指导采购决策，并验证其是否适配特定的应用任务。文献[Bostelman RV、Li-Baboud Y、Legowik S、Hong TH、Foufou S.，《移动机械臂性能测量数据》，2017年6月27日]中描述了一种采用测试工件的测试方法，该工件名为可重构移动机械臂测试工件（Reconfigurable Mobile Manipulator Artifact，RMMA），并将其与用作RMMA和移动机械臂系统地面真值的光学跟踪系统进行了对比。本研究记录了自动导引车、机载机械臂以及光学跟踪系统的测量数据，相关内容已在论文中详述，用户可通过本记录附带的链接下载上述数据。这三项测量所需的数据均通过两组测试采集得到；两组测试的时间戳均基于全球定位系统（Global Positioning System，GPS）时间，且所有计算机时钟均通过网络时间协议（Network Time Protocol，NTP）完成同步。本论文中的信息与数据文件的使用者，应具备足够的专业知识以开展移动机械臂系统的测试与评估工作。

搜集汇总

背景与挑战

背景概述

该数据集提供了移动机械臂（结合AGV和机械臂）的性能测量数据，旨在支持工业应用中的测试和评估。它包含使用Reconfigurable Mobile Manipulator Artifact (RMMA)和光学跟踪系统作为地面真值收集的AGV、机械臂和光学跟踪系统测量值，数据带有GPS时间戳，适用于制造业机器人领域的研究。