Autonomous vision-based mobility & manipulation of a 9-DoF WMRA for the performance of ADL Tasks

In this paper, optimized combined control of a 9-DoF prototype wheelchair-mounted robotic arm (WMRA) system, consisting of a 7-DoF manipulator and a 2-DoF power wheelchair, is demonstrated using vision-based dual-trajectory control that generates separate wheelchair and end-effector trajectories. Physical results of this work are provided with a “Go to and Pick Up” task. Image-based visual servoing (IBVS) was implemented to track and reach a user-selected goal object. The control structure and hardware implementation results of this work are presented in this paper.