2007, English, Article edition: Directional Manipulability for Motion Coordination of an Assistive Mobile Arm Nait-Chabane, Khiar; Hoppenot, Philippe; Colle, Etienne

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Bookmark: http://trove.nla.gov.au/version/210989
Physical Description
  • text
Published
  • HAL - CCSD
  • 2007
Language
  • English

Edition details

Title
  • Directional Manipulability for Motion Coordination of an Assistive Mobile Arm
Author
  • Nait-Chabane, Khiar
  • Hoppenot, Philippe
  • Colle, Etienne
Published
  • HAL - CCSD
  • 2007
Physical Description
  • text
Subjects
Notes
  • In this paper, we address the problem of coordinated motion control of a manipulator arm embarked on a mobile platform. The mobile manipulator is used in providing assistance for disabled people. In order to perform a given task by using mobile manipulator redundancy, we propose a new manipulability measure that incorporates both arm manipulation capacities and the end-effector imposed task. This proposed measure is used in a numerical algorithm to solve system redundancy and then compared with other existing measures. Simulation and real results show the benefit and efficiency of this measure in the field of motion coordination.
  • HAL:hal-00341319, version 1
  • HAL:http:/​/​hal.archives-ouvertes.fr/​hal-00341319/​en/​
Language
  • English
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