Title :
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
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;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.364176
