Benchmarking Protocols for Evaluating Small Parts Robotic Assembly Systems
Kenneth Kimble, Karl Van Wyk, Joe Falco, Elena R. Messina, Yu Sun, Mizuho Shibata, Wataru Uemura, Yasuyoshi Yokokohji
Abstract
This paper 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.