Benchmarking Protocols for Evaluating Small Parts Robotic Assembly Systems
Benchmarking Protocols for Evaluating Small Parts Robotic Assembly Systems
复制标题
用于评估小零件机器人装配系统的基准测试协议
DOI：
10.1109/lra.2020.2965869
复制
发表时间：
2020
影响因子：
5.2
通讯作者：
Y. Yokokohji
中科院分区：
文献类型：
--
作者：
K. Kimble;Karl Van Wyk;J. Falco;E. Messina;Yu Sun;M. Shibata;Wataru Uemura;Y. Yokokohji
本文介绍了一组性能指标、测试方法和相关工件，以帮助推进机器人装配系统的开发和部署。三个任务板工件的设计，复制小部件插入和紧固操作，如螺纹，卡扣配合，并与标准螺钉，螺母，垫圈，齿轮，电气连接器，皮带驱动器和布线啮合。为了支持机器人装配和拆卸操作的评估，基准测试协议和性能指标，利用这些任务板。最后，机器人比赛讨论这些任务板的用例。
This article presents a set of performance metrics, test methods, and associated artifacts to help progress the development and deployment of robotic assembly systems. The designs for three task board artifacts that replicate small part insertion and fastening operations such as threading, snap fitting, and meshing with standard screws, nuts, washers, gears, electrical connectors, belt drives, and wiring are presented. To support the evaluation of robotic assembly and disassembly operations, benchmarking protocols and performance metrics are presented that leverage these task boards. Finally, robot competitions are discussed as use cases for these task boards.