Model of Mobile Manipulator Performance Measurement using SysML.

Test methods for measuring safety and performance of mobile manipulators have yet to be developed. Therefore, potential mobile manipulator users cannot compare one system to another. Systems Modeling Language (SysML) is a general-purpose modeling language for systems engineering applications that supports the specification, analysis, design, verification, and validation of simple through complex systems, such as mobile manipulators. As test methods are developed to allow performance comparison of the varied mobile manipulators, so to should be the case of allowing comparison of most any mobile manipulator configuration and control strategy during performance measurements. Additionally, mobile manipulator manufacturers and users can then compare these systems to tasks using various methods. This paper uses SysML to describe two measurement methods (optical tracking and artifacts) and the performance measurement of mobile manipulators performing assembly tasks. The SysML models are verified through systems review, referenced experimentation and summarize with uncertainty propagation models of the mobile manipulator.