Title :
Task-oriented control of a 9-DoF WMRA system for opening a spring-loaded door task
Author :
Farelo, F. ; Alqasemi, R. ; Dubey, R.
fDate :
June 29 2011-July 1 2011
Abstract :
A 9-Dof wheelchair mounted robotic arm system (WMRA) has been developed to assist wheelchair-bound persons with upper limb motion limitations to perform activities of daily living (ADL) tasks. In this paper, we utilize mobile manipulation control to keep the end-effector stationary while moving the base and vice versa. This allows easier execution of a group of pre-set ADL tasks including opening and holding a spring loaded door passing through by locking the end-effector position and orientation. Redundancy resolution is achieved by optimizing the manipulability measure while the ADL task is being performed. Combined mobility and manipulation is expanded in this work to turn the USF WMRA into a task-oriented robotic system.
Keywords :
end effectors; handicapped aids; medical robotics; wheelchairs; 9-DoF WMRA System; 9-Dof wheelchair mounted robotic arm system; USF WMRA; daily living tasks; end-effector position; end-effector stationary; mobile manipulation control; preset ADL tasks; redundancy resolution; spring-loaded door task; task-oriented control; task-oriented robotic system; upper limb motion limitations; wheelchair-bound persons; End effectors; Joints; Mobile robots; Trajectory; Wheelchairs; ADL; Manipulator; Mobile Robot; Redundancy; Task-Oriented; Biomechanics; Humans; Models, Theoretical; Robotics; Wheelchairs;
Conference_Titel :
Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on
Conference_Location :
Zurich
Print_ISBN :
978-1-4244-9863-5
Electronic_ISBN :
1945-7898
DOI :
10.1109/ICORR.2011.5975484
