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Standard Practice for Measuring Mobile Manipulator Performance: Recording the Workpiece Configuration
1.1 This practice describes accepted procedures for recording the configuration of workpieces used to conduct mobile manipulator performance evaluation. The information contained in this practice provides instructions and a test report to record workpiece configuration characteristics, such as physical properties, user-adjustable properties, coordinate system descriptions, location of registration fiducials, and pose-constrained targets (PCTs). A completed example test report is also provided using an optional test apparatus, the Configurable Mobile Manipulator Apparatus (CMMA), as an example workpiece used for mobile manipulator performance measurement.
1.2 Units—The values stated in SI units are to be regarded as the standard. No other units of measurement are included in this standard.
1.2.1 Exception—Figs. X1.7-X1.9 and X1.3 contain non-SI units as there are no identified metric conversions for these measurements. These exceptions include (1) the 3/8 in. – 16 and 1/4 in. – 20 threaded screws in Fig. X1.7, (2) the 1/4 in. – 20 tap blind hole in Fig. X1.8, and (3) the 1/4 in. – 20 through hole and tapped holes in Fig. X1.9.
1.3 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use.
1.4 This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.
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