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Mobile Arm for Disabled People Assistance Manipulability Measure for Redundancy Solve

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Abstract

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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Abbreviations

EE:

end-effector

DOF:

degree of freedom

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Authors and Affiliations

  1. Complex System Laboratory (LSC), University of Evry, Paris, France

    Khiar Nait-Chabane, Philippe Hoppenot & Etienne Colle

Authors
  1. Khiar Nait-Chabane
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  2. Philippe Hoppenot
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  3. Etienne Colle
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Correspondence to Khiar Nait-Chabane.

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Nait-Chabane, K., Hoppenot, P. & Colle, E. Mobile Arm for Disabled People Assistance Manipulability Measure for Redundancy Solve. J Intell Robot Syst 47, 33–54 (2006). https://doi.org/10.1007/s10846-006-9064-2

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  • DOI: https://doi.org/10.1007/s10846-006-9064-2

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