Abstract
Although the manipulator equipped on a mobile robot is extended its work space, it also brings about redundancy for the positioning due to the base mobile robot. To reduce the redundancy of manipulator, the manipulability is often applied as one of indexed for manipulator motion planning. In teleoperation with the mobile manipulator, it is load for human operator to consider the manipulability during a task. Consequently, we proposed an assist technique to improve the manipulability for teleoperated mobile manipulator. Furthermore, the viewability on the display monitor with the robot camera view is considered, and the robot motion to improve the viewability is adopted for the assist technique. Finally, the technique is experimented with four subjected in teleoperated manipulator positioning task and verified the effects.
