Bostelman Roger, Hong Tsai, Marvel Jeremy
National Institute of Standards and Technology, Gaithersburg, MD 20899.
IEM, Le2i, Université de Bourgogne, BP 47870, 21078 Dijon, France.
J Res Natl Inst Stand Technol. 2016 Jun 30;121:342-366. doi: 10.6028/jres.121.015. eCollection 2016.
This survey provides the basis for developing research in the area of mobile manipulator performance measurement, an area that has relatively few research articles when compared to other mobile manipulator research areas. The survey provides a literature review of mobile manipulator research with examples of experimental applications. The survey also provides an extensive list of planning and control references as this has been the major research focus for mobile manipulators which factors into performance measurement of the system. The survey then reviews performance metrics considered for mobile robots, robot arms, and mobile manipulators and the systems that measure their performance, including machine tool measurement systems through dynamic motion tracking systems. Lastly, the survey includes a section on research that has occurred for performance measurement of robots, mobile robots, and mobile manipulators beginning with calibration, standards, and mobile manipulator artifacts that are being considered for evaluation of mobile manipulator performance.
本次调查为开展移动操作器性能测量领域的研究提供了基础，与其他移动操作器研究领域相比，该领域的研究文章相对较少。该调查提供了移动操作器研究的文献综述以及实验应用示例。该调查还提供了一份广泛的规划和控制参考文献清单，因为这一直是移动操作器的主要研究重点，而这也是系统性能测量的一个因素。然后，该调查回顾了针对移动机器人、机器人手臂和移动操作器以及测量其性能的系统所考虑的性能指标，包括通过动态运动跟踪系统的机床测量系统。最后，该调查包括一个关于机器人、移动机器人和移动操作器性能测量研究的章节，首先介绍了正在考虑用于评估移动操作器性能的校准、标准和移动操作器工件。
