2006, English, Article edition: Mobile arm for disabled people assistance manipulability measure for redundancy solve Nait-Chabane, Khiar; Hoppenot, Philippe; Colle, Etienne

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Bookmark: http://trove.nla.gov.au/version/212257
Physical Description
  • text
Published
  • HAL - CCSD
  • 2006
Language
  • English

Edition details

Title
  • Mobile arm for disabled people assistance manipulability measure for redundancy solve
Author
  • Nait-Chabane, Khiar
  • Hoppenot, Philippe
  • Colle, Etienne
Published
  • HAL - CCSD
  • 2006
Physical Description
  • text
Subjects
Notes
  • The addition of a mobile platform to a 6-DOF arm raises the question of the exploitation of redundancy with respect to needs. The application field concerns assistive robotics for object manipulation tasks. Works deal with the utilisability of a mobile arm, which is a complex system, by a disabled person with reduced motor and perception abilities. In this paper, we present the influence of mobility on manipulability measure. Manipulability is a well-established tool for motion analysis which we use as criterion in control scheme to improve the coordination of two subsystems. We propose a normalized measure to solve problems inherent to the use of different physical units and velocity limits for both components of the system, arm and mobile platform. Simulation results for a 3D positioning task are given to show the effect of nonholonomic constraint on manipulability measure.
  • HAL:hal-00341320, version 1
  • HAL:http:/​/​hal.archives-ouvertes.fr/​hal-00341320/​en/​
  • DOI:10.1007/​s10846-006-9064-2
Language
  • English
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