Mobile Manipulator Performance Measurement Data

An advanced approach to flexible manufacturing is to move robotic manipulators (also referred to as industrial arms), using an AGV or mobile robot, between workstations. This integrated system is referred to as a mobile manipulator. Prior to industrial acceptance and standards development for mobile manipulators, users of these new systems will expect manufacturers to provide real performance data to guide their procurement and assure suitability for given application tasks. A test method that uses an artifact, called the Reconfigurable Mobile Manipulator Artifact (RMMA), is described in [Bostelman RV, Li-Baboud Y, Legowik S, Hong TH, Foufou S., "Mobile Manipulator Performance Measurement Data". 2017 Jun 27] and compared to an optical tracking system that was used as ground truth for the RMMA and mobile manipulator. Measurement data of an AGV, an onboard robot arm, and an optical tracking system were recorded and are described in the paper and are available for download using the link available in this record. The data needed to make these three measurements was collected during two tests; both tests have corresponding timestamps relative to global positioning system (GPS) time, where the computer clocks are synchronized using the Network Time Protocol. It is expected that the user of the information within the paper and the data files will have sufficient knowledge to implement mobile manipulation testing and evaluation.

Data and Resources

Field Value
accessLevel public
accrualPeriodicity irregular
bureauCode {006:55}
catalog_@context https://project-open-data.cio.gov/v1.1/schema/data.json
catalog_conformsTo https://project-open-data.cio.gov/v1.1/schema
catalog_describedBy https://project-open-data.cio.gov/v1.1/schema/catalog.json
identifier 62447774F318FAC0E0531A57068119F81884
landingPage https://www.nist.gov/el/intelligent-systems-division-73500/mobile-manipulator-performance-measurement-data
language {en}
license https://www.nist.gov/open/license
modified 2017-06-27 00:00:00
programCode {006:045}
publisher National Institute of Standards and Technology
references {https://www.nist.gov/publications/mobile-manipulator-performance-measurement-data,https://doi.org/10.6028/NIST.TN.1965}
resource-type Dataset
source_datajson_identifier true
source_hash b2d98b7147d99e9d7c81baeecfac0c59a9a08599
source_schema_version 1.1
theme {"Manufacturing:Robotics in manufacturing"}
Groups
  • AmeriGEOSS
  • National Provider
  • North America
Tags
  • agv
  • amerigeo
  • amerigeoss
  • ckan
  • geo
  • geoss
  • gps-timestamp
  • mobile-manipulator
  • national
  • north-america
  • optical-tracking-system
  • performance-measurement
  • registration
  • robot-arm
  • united-states
isopen False
license_id other-license-specified
license_title other-license-specified
maintainer Ya-Shian Li-Baboud
maintainer_email ya-shian.li-baboud@nist.gov
metadata_created 2025-11-21T18:43:12.173334
metadata_modified 2025-11-21T18:43:12.173338
notes An advanced approach to flexible manufacturing is to move robotic manipulators (also referred to as industrial arms), using an AGV or mobile robot, between workstations. This integrated system is referred to as a mobile manipulator. Prior to industrial acceptance and standards development for mobile manipulators, users of these new systems will expect manufacturers to provide real performance data to guide their procurement and assure suitability for given application tasks. A test method that uses an artifact, called the Reconfigurable Mobile Manipulator Artifact (RMMA), is described in [Bostelman RV, Li-Baboud Y, Legowik S, Hong TH, Foufou S., "Mobile Manipulator Performance Measurement Data". 2017 Jun 27] and compared to an optical tracking system that was used as ground truth for the RMMA and mobile manipulator. Measurement data of an AGV, an onboard robot arm, and an optical tracking system were recorded and are described in the paper and are available for download using the link available in this record. The data needed to make these three measurements was collected during two tests; both tests have corresponding timestamps relative to global positioning system (GPS) time, where the computer clocks are synchronized using the Network Time Protocol. It is expected that the user of the information within the paper and the data files will have sufficient knowledge to implement mobile manipulation testing and evaluation.
num_resources 1
num_tags 15
title Mobile Manipulator Performance Measurement Data