DIRECTIONAL MANIPULABILITY FOR MOTION COORDINATION OF AN ASSISTIVE MOBILE ARM

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

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Paper

DIRECTIONAL MANIPULABILITY FOR MOTION COORDINATION OF AN ASSISTIVE MOBILE ARM

Topics: Mobile Robots and Autonomous Systems; Robot Design, Development and Control; Telerobotics and Teleoperation

In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, 201-208, 2007 , Angers, France

Authors: K. Nait-Chabane ; P. Hoppenot and E. Colle

Affiliation: IBISC Université d’Evry Val d’Essonne, France

Keyword(s): Mobile manipulator, manipulability, redundancy systems, robotic assistance.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation ; Telerobotics and Teleoperation

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 several formats:

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; ISSN 2184-2809, SciTePress, pages 201-208. DOI: 10.5220/0001642402010208

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Nait-Chabane, K.
AU - Hoppenot, P.
AU - Colle, E.
PY - 2007
SP - 201
EP - 208
DO - 10.5220/0001642402010208
PB - SciTePress