Mobile Arm for
Disabled People Assistance – Manipulability Analysis
Khiar NAIT-CHABANE, Philippe
HOPPENOT, Etienne COLLE
LSC, University of
Evry, France http://lsc.univ-evry.fr
chabane | hoppenot | colle@iup.univ-evry.fr
Abstract
In this paper, we present the
influence of the presence of a mobile platform on manipulability measure. We propose a normalized measure to solve
problems inherent to physical units and velocity limits of the system.
Simulation results on three dimensional positioning task are given to show the
effect of nonholonomic constraint on manipulability measure. Manipulability is
a well-established tool for motion analysis which will be used as
criterion in control scheme to improve the coordination of two subsystems.