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.

中文翻译：

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使用 SysML 的移动机械手性能测量模型。

用于测量移动机械手的安全性和性能的测试方法尚未开发。因此，潜在的移动机械手用户无法将一种系统与另一种系统进行比较。系统建模语言 (SysML) 是一种用于系统工程应用的通用建模语言，支持从简单到复杂的系统（例如移动操纵器）的规范、分析、设计、验证和验证。由于开发了测试方法来允许对各种移动机械手进行性能比较，因此应该允许在性能测量期间对大多数移动机械手配置和控制策略进行比较。此外，移动机械手制造商和用户可以使用各种方法将这些系统与任务进行比较。本文使用 SysML 描述两种测量方法（光学跟踪和工件）以及执行装配任务的移动机械手的性能测量。SysML模型通过系统审查、参考实验进行验证，并总结移动机械手的不确定性传播模型。