Bostelman Roger, Hong Tsai, Legowik Steven
National Institute of Standards and Technology, Engineering Laboratory, Intelligent Systems Division, 100 Bureau Drive, MS8230, Gaithersburg, MD 20899.
IEM, Le2i, Université de Bourgogne, BP 47870, 21078 Dijon, France.
Proc SPIE Int Soc Opt Eng. 2016;9872. doi: 10.1117/12.2228464. Epub 2016 May 19.
Performance standards for industrial mobile robots and mobile manipulators (robot arms onboard mobile robots) have only recently begun development. Low cost and standardized measurement techniques are needed to characterize system performance, compare different systems, and to determine if recalibration is required. This paper discusses work at the National Institute of Standards and Technology (NIST) and within the ASTM Committee F45 on Driverless Automatic Guided Industrial Vehicles. This includes standards for both terminology, F45.91, and for navigation performance test methods, F45.02. The paper defines terms that are being considered. Additionally, the paper describes navigation test methods that are near ballot and docking test methods being designed for consideration within F45.02. This includes the use of low cost artifacts that can provide alternatives to using relatively expensive measurement systems.
工业移动机器人和移动操纵器（搭载在移动机器人上的机器人手臂）的性能标准直到最近才开始制定。需要低成本且标准化的测量技术来表征系统性能、比较不同系统以及确定是否需要重新校准。本文讨论了美国国家标准与技术研究院（NIST）以及美国材料与试验协会（ASTM）F45委员会关于无人驾驶自动导引工业车辆的工作。这包括术语标准F45.91和导航性能测试方法标准F45.02。本文定义了正在考虑的术语。此外，本文描述了接近投票阶段的导航测试方法以及正在设计以供F45.02考虑的对接测试方法。这包括使用低成本的工件，这些工件可以为使用相对昂贵的测量系统提供替代方案。
