Directional Manipulability for Motion Coordination of an Assistive Mobile Arm
Year: 2007
Type: conference-paper
Abstract: 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.
Authors: K. Nait-Chabane, P. Hoppenot, E. Colle
Institution: Informatique, BioInformatique, Systèmes Complexes
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
OpenAlex ID: W35622809