United States Government Publishing Office publisher pbl distributor dst United States Commerce Department National Institute of Standards and Technology (NIST) author aut Government Organization Aboul-Enein, Omar. author aut text government publication eng GOVPUB Executive Agency Publications executive 2023-10-27 Commerce Department 2022-04-06 monographic New version deposited born digital 100 digital object pages C 13. https://www.govinfo.gov/app/details/GOVPUB-C13-dbeab51d6d053f7d0cad68a66ae77581 P0b002ee1c1ba3532 on1389890339 (OCoLC)1389890339 DGPO 2023-10-27 2026-06-27 GOVPUB-C13-dbeab51d6d053f7d0cad68a66ae77581 machine generated eng fdlp C13 GOVPUB-C13-dbeab51d6d053f7d0cad68a66ae77581 dbeab51d6d053f7d0cad68a66ae77581 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 2022-04-06 https://www.govinfo.gov/app/details/GOVPUB-C13-dbeab51d6d053f7d0cad68a66ae77581 https://www.govinfo.gov/content/pkg/GOVPUB-C13-dbeab51d6d053f7d0cad68a66ae77581/pdf/GOVPUB-C13-dbeab51d6d053f7d0cad68a66ae77581.pdf Coordinate registration Experimental design Ground truth Mobile manipulators Mobile robots Optical tracking system Re-configurable Mobile Manipulator Artifact (RMMA) Robotics in manufacturing Statistics Systems integration Aboul-Enein, Omar. creator Aboul-Enein, Omar. Bostelman, Roger. Li-Baboud, Ya-Shian. Shah, Mili. National Institute of Standards and Technology (U.S.) Engineering Laboratory mdu U.S. Dept. of Commerce, National Institute of Standards and Technology 2022-04-06. New version monographic 1 online resource (100 pages) : illustrations (color) text technical report eng Mobile manipulators, which consist of a robotic manipulator arm on a vehicular base, enable more flexible and dynamic workflows in manufacturing processes by freeing the manipulator arm from the restriction of working on a single, calibrated workspace. A mobile manipulator-on-cart further enhances job concurrency since the manipulator arm is mounted to a detachable cart rather than directly to the vehicle payload structure. With this increase in flexibility, there is a need to understand new sources of position and orientation uncertainty. This uncertainty can degrade the accuracy and precision of the mobile manipulator position and orientation in addition to the coordination capability between the manipulator and vehicle. To facilitate performance evaluation and uncertainty characterization, the National Institute of Standards and Technology (NIST) has developed an artifact-based measurement methodology for mobile manipulator-on-a-cart systems. The artifact, which is re-configurable, simulates mock-assembly tasks for manufacturing applications, and is compared to a ground truth consisting of an optical tracking system (OTS). This report documents experimental procedures, data analysis methods, and results in measuring the performance of the manipulator-on-a-cart system. The speed and accuracy of two example coordinate registration techniques to be used by the mobile manipulator-on-a-cart to reduce position and orientation uncertainty are also compared. Omar Aboul-Enein; Roger Bostelman; Ya-Shian Li-Baboud; Mili Shah. April 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 Coordinate registration Ground truth Mobile manipulators Optical tracking system Re-configurable Mobile Manipulator Artifact (RMMA) Robotics in manufacturing https://doi.org/10.6028/NIST.AMS.100-45r1