Our experience shows that during execution of a particular
force task, the human body assumes task specific postures,
selected unconsciously. Similarly, an articulated and
possibly redundant manipulator should assume an optimal
posture satisfying task requirements without exceeding its
physical limits. The existence of a mobile base increases
available system postures, and hence it enhances a system's
capabilities in accomplishing a complex force task. In this
study we analyze the effects of a system's posture and
mobility on its force application capabilities, and develop
novel planning methods to aid operators plan effective force
tasks and improve a system's performance. (See Figure ).
Y. Gonthier, E. Papadopoulos
Limited torque actuators reduce the workspace region where a large force F can be applied.