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Article Dans Une Revue Journal of Intelligent and Robotic Systems Année : 2006

Mobile arm for disabled people assistance manipulability measure for redundancy solve

Résumé

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.
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Dates et versions

hal-00341320 , version 1 (16-07-2009)

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Khiar Nait-Chabane, Philippe Hoppenot, Etienne Colle. Mobile arm for disabled people assistance manipulability measure for redundancy solve. Journal of Intelligent and Robotic Systems, 2006, 47, pp.33--54. ⟨10.1007/s10846-006-9064-2⟩. ⟨hal-00341320⟩
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