Manipulability and kinematic analysis of a home service robot aimed for floor tasks

This paper presents the design and kinematic analysis of a home service robot that is aimed for performing not only table tasks but also floor tasks. The robot has a structure of a mobile manipulator that has two wheels and two arms. One typical design of the robot is to have long arms to reach objects on the floor with ease. The robot is beneficial to homes where people live on the floor. The robot is required to perform cleaning the floor, picking up objects, and arranging them on the floor. For such a given floor task, the manipulability of the designated robot arms is analyzed through kinematics.