United States Government Publishing Office publisher pbl distributor dst United States Commerce Department National Institute of Standards and Technology (NIST) author aut Government Organization Bostelman, Roger V. author aut text government publication eng GOVPUB Executive Agency Publications executive 2023-10-27 Commerce Department 2022-08-30 monographic deposited born digital 37 digital object pages C 13. https://www.govinfo.gov/app/details/GOVPUB-C13-6d42886ace239720492e6e5921035a0b P0b002ee1c1ba3535 on1389890477 (OCoLC)1389890477 DGPO 2023-10-27 2026-06-27 GOVPUB-C13-6d42886ace239720492e6e5921035a0b machine generated eng fdlp C13 GOVPUB-C13-6d42886ace239720492e6e5921035a0b 6d42886ace239720492e6e5921035a0b GOVPUB NIST Advanced Manufacturing Series NOTE: THE “DATE ISSUED” ABOVE MAY DEFAULT TO JANUARY 1ST OF A GIVEN YEAR. TO THE VIEW THE MOST ACCURATE DATE OF ISSUE, REVIEW THE TITLE PAGE OF THE PUBLICATION. The Advanced Manufacturing Series consists of reports, guides, recommendations, specifications, use cases, and data management methods related to the design, planning, implementation and operation of advanced manufacturing. Topics cover, but are not limited to, additive manufacturing, advanced composites, digital manufacturing, flexible hybrid electronics, integrated photonics, lightweight metals, and smart manufacturing. AMS is divided into subseries for specific groups and document types. National Institute of Standards and Technology Commerce Department. National Institute of Standards and Technology. 2022 2022-08-30 https://www.govinfo.gov/app/details/GOVPUB-C13-6d42886ace239720492e6e5921035a0b https://www.govinfo.gov/content/pkg/GOVPUB-C13-6d42886ace239720492e6e5921035a0b/pdf/GOVPUB-C13-6d42886ace239720492e6e5921035a0b.pdf Automatic guided vehicle (AGV) Coordinate registration Experimental design Ground truth Mobile manipulators Mobile robots Optical tracking system Peg-in-hole assembly Reconfigurable mobile manipulator artifact (RMMA) Robotics in manufacturing Statistics Systems integration Bostelman, Roger V. creator Bostelman, Roger. Aboul-Enein, Omar. Yoon, Soocheol. Li-Baboud, Ya-Shian. National Institute of Standards and Technology (U.S.) Engineering Laboratory mdu U.S. Dept. of Commerce, National Institute of Standards and Technology 2022-08-30. monographic 1 online resource (37 pages) : illustrations (color) text technical report eng Robot arms onboard mobile bases, or mobile manipulators, are advancing and measurement of these systems is critical for robust safety and performance. As mobile manipulators flexibly fixture (i.e., do not fasten) to a worktable or object, they require advanced systems to measure how well they can perform tasks, such as assembly or inspection. The National Institute of Standards and Technology (NIST) has developed a measurement concept that uses the NIST-designed, Reconfigurable Mobile Manipulator Artifact (RMMA) as the worktable/object. The RMMA includes fiducials with relatively high uncertainty, as compared to the mobile manipulator pose performance, that are measured using a mobile manipulator wielded camera or laser retroreflector sensor as the end-effector. The intent of developing the RMMA is for mobile manipulator manufacturers, users, and researchers to perform in-situ measurement during production or research for frequent system calibration. This paper describes the RMMA design and past RMMA evaluation using an automatic guided vehicle and a mobile robot, each supporting a six degree-of-freedom industrial robot arm, and RMMA/mobile manipulator ground truth measurement using an optical tracking system, also with relatively high uncertainty as compared to the mobile manipulator. Roger Bostelman; Omar Aboul-Enein; Soocheol Yoon; Ya-Shian Li-Baboud. August 2022. Title from PDF title page (viewed January 4, 2023). Includes bibliographical references. Approved by the NIST Editorial Review Board on 2022-04-05 Mode of access: World Wide Web. Systems requirements: Adobe Acrobat PDF reader. Experimental design Mobile robots Statistics Systems integration Automatic guided vehicle (AGV) Coordinate registration Ground truth Mobile manipulators Optical tracking system Peg-in-hole assembly Reconfigurable mobile manipulator artifact (RMMA) Robotics in manufacturing https://doi.org/10.6028/NIST.AMS.100-46