DIRECTIONAL MANIPULABILITY FOR MOTION COORDINATION OF AN ASSISTIVE MOBILE ARM

K. Nait-Chabane, P. Hoppenot, E. Colle

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 for 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 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.

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Paper Citation


in Harvard Style

Nait-Chabane K., Hoppenot P. and Colle E. (2007). DIRECTIONAL MANIPULABILITY FOR MOTION COORDINATION OF AN ASSISTIVE MOBILE ARM . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 201-208. DOI: 10.5220/0001642402010208


in Bibtex Style

@conference{icinco07,
author={K. Nait-Chabane and P. Hoppenot and E. Colle},
title={DIRECTIONAL MANIPULABILITY FOR MOTION COORDINATION OF AN ASSISTIVE MOBILE ARM},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={201-208},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001642402010208},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - DIRECTIONAL MANIPULABILITY FOR MOTION COORDINATION OF AN ASSISTIVE MOBILE ARM
SN - 978-972-8865-83-2
AU - Nait-Chabane K.
AU - Hoppenot P.
AU - Colle E.
PY - 2007
SP - 201
EP - 208
DO - 10.5220/0001642402010208