2005, English, Article edition: Mobile Arm for Disabled People Assistance Manipulability Analysis Nait-Chabane, Khiar; Hoppenot, Philippe; Colle, Etienne

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Bookmark: http://trove.nla.gov.au/version/210074
Physical Description
  • text
Published
  • HAL - CCSD
  • 2005
Language
  • English

Edition details

Title
  • Mobile Arm for Disabled People Assistance Manipulability Analysis
Author
  • Nait-Chabane, Khiar
  • Hoppenot, Philippe
  • Colle, Etienne
Published
  • HAL - CCSD
  • 2005
Physical Description
  • text
Subjects
Notes
  • In this paper, we present the influence of the presence of a mobile platform on manipulability measure. We propose a normalized measure to solve problems inherent to physical units and velocity limits of the system. Simulation results on three dimensional positioning task are given to show the effect of nonholonomic constraint on manipulability measure. Manipulability is a well-established tool for motion analysis which will be used as criterion in control scheme to improve the coordination of two subsystems.
  • HAL:hal-00341321, version 1
  • HAL:http:/​/​hal.archives-ouvertes.fr/​hal-00341321/​en/​
Language
  • English
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