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Posture Control in Redundant and/or Mobile Manipulators

Y. Gonthier, E. Papadopoulos 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 23). [Yves.ps].40 Limited torque actuators reduce the workspace region where a large force F can be applied.egpapado:yves



Thierry Baron
Mon Apr 7 12:54:24 EDT 1997