Directional Manipulability for Motion
Coordination of an Assistive
K.
Nait-Chabane, P. Hoppenot, E. Colle
IBISC Université d’Evry Val
d’Essonne, 40 rue de plevoux 91020, Evry, France
chabane@iup.univ-evry.fr , hoppenot@iup.univ-evry.fr, colle@iup.univ-evry.fr
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 in 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 proposed 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.
Keywords: mobile manipulator, manipulability, redundancy systems, robotic assistance