Mobile arm for disabled people assistance Manipulability
measure for redundancy solve
Complex
System Laboratory (LSC), University
of Evry, France
http://lsc.univ-evry.fr
E mail: chabane@iup.univ-evry.fr
Tel :
(33/0) 1 69 47 75 04
Fax : (33/0) 1 69 47 06 03
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.
Key Words:
Robotized assistant, mobile manipulator,
nonholonomic systems, manipulability