Mobile Arm for Disabled People Assistance Manipulability Analysis

Khiar Nait-Chabane (1) , Philippe Hoppenot (1) , Etienne Colle (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

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.

Domaines: Robotique [cs.RO]; Automatique; Automatique / Robotique

Khiar Nait-Chabane, Philippe Hoppenot, Etienne Colle. Mobile Arm for Disabled People Assistance Manipulability Analysis. International Conference on Computer Systems and Information Technology (ICSIT 2005), 2005, Alger, Algeria. pp.624--629. ⟨hal-00341321⟩