JRM Vol.28 No.2 pp. 199-214
doi: 10.20965/jrm.2016.p0199


Test Methods for the Evaluation of Manufacturing Mobile Manipulator Safety

Jeremy A. Marvel* and Roger Bostelman*,**

*National Institute of Standards and Technology
100 Bureau Dr., Stop 8230, Gaithersburg, MD 20899, USA

**IEM, Le2i, Université de Bourgogne
BP 47870, 21078 Dijon, France

June 9, 2015
January 18, 2016
April 20, 2016
mobile manipulators, AGV safety, robot safety
This paper presents a test methodology for evaluating the safety of mobile manipulators (robot arms mounted on mobile bases). This methodology addresses the safety concerns relevant to modern, agile, manufacturing practices in which mobile manipulators will play a significant role. We consider 1) the unique capabilities and anticipated uses of mobile manipulators and 2) the potential exemptions and special cases in which their behavior may be unpredictable or otherwise contrary to the safety requirements. Finally, we define metrics for assessing compliance with functional safety requirements and anticipated performance.
Arm-on-AGV safety test methods

Arm-on-AGV safety test methods

Cite this article as:
J. Marvel and R. Bostelman, “Test Methods for the Evaluation of Manufacturing Mobile Manipulator Safety,” J. Robot. Mechatron., Vol.28 No.2, pp. 199-214, 2016.
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