Work Item
ASTM WK92144
New Practice for Measuring Mobile Manipulator Performance: Inducing Workpiece Disturbance Impairment
1. Scope
This practice describes accepted procedures for inducing workpiece disturbances when measuring the performance of a single mobile manipulator. The information contained in this practice provides instructions for documenting the configuration of the disturbance behavior, constructing test apparatuses for inducing the workpiece disturbance, measuring the repeatability of the workpiece disturbance, and reporting the workpiece disturbance repeatability results.
Keywords
Automatic, Automated, or Autonomous-Uncrewed Ground Vehicle (A-UGV); Configurable Mobile Manipulator Apparatus (CMMA); Continuous Mobile Manipulator Task; Mobile Manipulator; Mobile Manipulator Workpiece Agitator; Manipulator; Non-continuous Mobile Manipulator Task; Workpiece Disturbance.
Rationale
This standard practice is intended for use by mobile manipulator manufacturers, suppliers, integrators, and end-users in either a laboratory or manufacturing environments to induce workpiece disturbances as a tested impairment while measuring the performance of mobile manipulators. Note that this standard practice is intended for use with other related and forthcoming standard practices and test methods for measuring mobile manipulator performance. The documentation of workpiece test configuration properties not pertaining to disturbance impairments is left to the existing standard: Standard Practice for Measuring Mobile Manipulators: Recording the Workpiece Test Configuration. The test apparatus for inducing workpiece disturbances described in this standard is covered by a provisional patent: Mobile Manipulator Workpiece Agitator with the serial number 63/635,212. Interested parties are invited to submit information regarding the identification of an alternative(s) to this patented item to the ASTM International Headquarters. Your comments will receive careful consideration at a meeting of the responsible technical committee, which you may attend. ASTM International takes no position respecting the validity of any patent rights asserted in connection with any item mentioned in this standard. Users of this standard are expressly advised that determination of the validity of any such patent rights, and the risk of infringement of such rights, are entirely their own responsibility.
The title and scope are in draft form and are under development within this ASTM Committee.
Work Item Status
Date Initiated: 09-03-2024
Technical Contact: Omar Aboul-Enein