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Performance Measurement of Mobile Manipulators Roger Bostelman Performance measurement of mobile manipulators Roger Bostelman To cite this version: Roger Bostelman. Performance measurement of mobile manipulators. Robotics [cs.RO]. Université Bourgogne Franche-Comté, 2018. English. NNT : 2018UBFCK003. tel-01803721 HAL Id: tel-01803721 https://tel.archives-ouvertes.fr/tel-01803721 Submitted on 30 May 2018 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. UNIVERSITY OF BURGUNDY U.F.R. SCIENCES ET TECHNIQUES THESIS presented by Roger BOSTELMAN to obtain the degree of DOCTOR OF THE UNIVERSITY Specialty : COMPUTER SCIENCE PERFORMANCE MEASUREMENT OF MOBILE MANIPULATORS Présentée le 16 mars 2018, devant le Jury composé de: Prof. Lionel ROUCOULES, ENSAM Aix-en-Provence, Rapporteur (Président) Prof. Rochdi MERZOUKI, Polytech Lille, Rapporteur Prof. Abdelaziz BOURAS, University Lyon 2, Examinateur Frédéric SEGONDS, Maître de Conférences ENSAM Paris, Examinateur Prof. Sebti FOUFOU, Université de Bourgogne, Directeur de Thèse Prof. Dominique MICHELUCCI, Université de Bourgogne, Coencadrant 1 Abstract An advanced approach to flexible manufacturing is to move robotic manipulators, using an AGV or mobile robot, called mobile manipulators, between workstations. The use of mobile manipulators can be advantageous in a number of situations. It can result in cost savings when a single mobile manipulator can be used to replace several stationary manipulators. However, mobile manipulators are “a relatively young discipline within robotics.” An extensive literature review of the research leading to commercial mobile manipulators and mobile robots was performed. The performance measurement of mobile manipulators, including a mobile base with an onboard robot arm, is virtually non-existent. However, mobile manipulators are beginning to appear in manufacturing, healthcare, and possibly other industries and therefore, a method to measure their performance is critical to both manufacturers and users of these relatively complex systems. Measurements of mobile manipulators performing standard tasks (poses and motions) are also non-existent except for simply ensuring that the task has been more or less completed. The task chosen for this thesis is assembly due to its requirement for relatively precise system posing. Performance test methods have lagged behind safety test methods for mobile manipulators which is progressing towards development of a new safety standard in the US. Metrics for safety and performance of mobile manipulators include many areas, such as: safe operation, task completion, time to complete the task, quality, and quantity (i.e., accuracy and repeatability, respectively) of tasks completed. 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. Due to the relatively high cost to procure and setup motion tracking systems to measure systems performance, an alternative method for use by manufacturers and users is ideal. A new test method concept that uses an artifact, called the Reconfigurable Mobile Manipulator Artifact (RMMA), is described in this thesis and compared to an optical tracking system that was used as ground truth for the RMMA and mobile manipulator. System modeling the mobile manipulator system, components, and the associated measurements can help to improve the understanding of these relatively complex systems. Systems Modeling Language (SysML) was chosen and used throughout this thesis because of SysML has reusable software modules for structure, behavior, requirements and parametrics off the mobile manipulator. The models describe the many aspects of measuring mobile manipulator performance also as new research area. The models were evaluated through experiments on an example mobile manipulators’ components and the entire system. SysML was used to describe the theoretical basis of the performance through propagation of uncertainty where mathematical equations are also modeled. A use case is modeled and described where the concepts researched to measure mobile manipulator performance are applied to a manufacturing implementation. The simplistic nature of the measurement process using the RMMA can be directly applied to today’s manufacturing processes, and extended beyond the contributions of this research to other even more complex measurement needs. The research is also discussed to even apply to cross-industry test methods for exoskeletons worn by humans. 2 Résumé Une approche avancée de la fabrication flexible consiste à déplacer les manipulateurs robot entre les postes de travail, en utilisant un véhicule autonome ou un robot mobile, appelé manipulateurs mobiles. L'utilisation de manipulateurs mobiles peut être avantageuse dans plusieurs situations. Par exemple, cette utilisation peut entraîner des économies de coûts lorsqu'un seul manipulateur mobile est utilisé pour remplacer plusieurs manipulateurs stationnaires. Cependant, les manipulateurs mobiles sont «relativement jeune dans la robotique». Une étude approfondie a été réalisée sur les travaux de recherche qui ont menée au développement de manipulateurs mobiles commerciaux. Cependant, la mesure de la performance des manipulateurs mobiles, y compris une base mobile avec un bras de robot à bord, est pratiquement inexistante. Les manipulateurs mobiles commencent à paraître dans les secteurs de la fabrication, de la santé et éventuellement d'autres industries et, par conséquent, une méthode pour mesurer leur performance est essentielle pour les fabricants et les utilisateurs de ces systèmes relativement complexes. Les mesures des manipulateurs mobiles exécutant des tâches classiques (poses et déplacements) sont également inexistantes, sauf pour s'assurer que la tâche a été plus ou moins complétée. Pour ce travail de thèse, nous nous concentrons sur les manipulateurs mobile exécutant une tâche d’assemblage. Cette tâche est choisie car elle exige un système de pose très précis. Les méthodes de mesure de performances des manipulateurs mobiles n’ont pas connu les mêmes avancées que les méthodes de test de sécurité qui progressent vers le développement d'une nouvelle norme de sécurité aux États-Unis. Les mesures pour la sécurité et les performances des manipulateurs mobiles incluent de nombreux domaines, tels que: l’usage sécurisé, l'achèvement de la tâche, le temps nécessaire pour compléter la tâche, la qualité (en terme de précision) et la quantité (en terme de répétabilité) des tâches réalisées. En attendant l’adoption des manipulateurs par l’industrie et le développement des normes appropriées, les utilisateurs de ces nouveaux systèmes s'attendront à ce que les fabricants fournissent des données de performance réelles pour guider leurs choix d’investissement et assurer l'adéquation pour les tâches à réaliser. En raison du coût relativement élevé pour l’achat et la mise en place d’un outil de suivi mouvements pour mesurer les performances des manipulateurs mobiles, il est nécessaire de proposer une méthode alternative pour les fabricants et les utilisateurs. En effet, nous avons conçu et mis en œuvre une nouvelle de méthode de test qui utilise un composant, appelé Reconfigurable Mobile Manipulator Artifact (RMMA). Cette méthode est décrite dans cette thèse et comparée à un système de suivi optique. La modélisation des composants, des mesures associées, et du flux d’informations d’un système de manipulation mobile peut aider à mieux comprendre ces systèmes relativement complexes. Le langage de modélisation des systèmes (SysML) a été choisi et utilisé tout au long de cette thèse pour représenter le système manipulateur mobile. Le choix de SysML est motivé par le fait qu’il offre des modules logiciels réutilisables pour représenter la structure, le comportement, les exigences et les paramètres du manipulateur mobile. Les modèles ont été évalués à travers des expériences sur un exemple de composants de manipulateurs mobiles et l'ensemble du système. SysML a été utilisé pour décrire la base théorique de la performance par propagation de l'incertitude où les équations mathématiques sont également modélisées. 3 Un cas d'utilisation est modélisé et décrit où les outils que nous avons développé pour mesurer la performance du manipulateur mobile sont appliqués dans un contexte de fabrication. La nature simpliste de la méthode de mesure proposée, qui utilise le RMMA, permet son application directe aux processus de fabrication actuels et son extension pour mesurer des processus encore plus complexes. L’application de la méthode proposées à d’autres domaines est également discutée. 4 Table of Contents List of Tables .................................................................................................................................. 9 List of Figures ............................................................................................................................... 10 1. INTRODUCTION ................................................................................................................
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