Combined Mobility and Manipulation Control of a Newly Developed 9-DOF Wheelchair-Mounted Robotic Arm System

Author

Alqasemi, Redwan ; Dubey, Rajiv

Author_Institution

Dept. of Mech. Eng., South Florida Univ., Tampa, FL

fYear

2007

fDate

10-14 April 2007

Firstpage

4524

Lastpage

4529

Abstract

A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of redundancy can be optimized to effectively perform activities of daily living (ADLs) and overcome some workspace limitations. The control system is designed for teleoperated or autonomous coordinated Cartesian control, and it offers expandability for future research, such as voice or sip and puff control operations and sensor assist functions

Keywords

handicapped aids; manipulators; medical robotics; motion control; 2-DoF power wheelchair control; 7-DoF robotic arm control; 9-DoF wheelchair-mounted robotic arm system; autonomous coordinated Cartesian control; manipulation control; mobility control; mobility-impaired persons; teleoperated coordinated Cartesian control; Control systems; Extremities; Manipulator dynamics; Mobile robots; Robot control; Robot kinematics; Robot sensing systems; Robotics and automation; Usability; Wheelchairs; ADL; Redundancy; Rehab; Robot; WMRA;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2007 IEEE International Conference on

Conference_Location

Roma

ISSN

1050-4729

Print_ISBN

1-4244-0601-3

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2007.364176

Filename

4209794