Redundancy Control and Optimization of a 9-DoF Wheelchair-Mounted Robotic Arm System

Author

Alqasemi, Redwan ; Dubey, Rajiv

Author_Institution

Univ. of South Florida, Tampa

fYear

2007

fDate

20-23 June 2007

Firstpage

504

Lastpage

509

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 expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of redundancy are optimized to effectively perform activities of daily living (ADLs) and overcome singularities, joint limits and 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

control system synthesis; handicapped aids; manipulators; mobile robots; optimisation; redundancy; telerobotics; 9-DoF wheelchair-mounted robotic arm system; autonomous coordinated cartesian control; daily living activities; mobility-impaired persons; redundancy control; teleoperation; Control systems; Extremities; Intelligent robots; Manipulator dynamics; Mobile robots; Robot kinematics; Robotics and automation; USA Councils; Usability; Wheelchairs; ADL; Redundancy; Rehabilitation; Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2007. CIRA 2007. International Symposium on

Conference_Location

Jacksonville, FI

Print_ISBN

1-4244-0790-7

Electronic_ISBN

1-4244-0790-7

Type

conf

DOI

10.1109/CIRA.2007.382891

Filename

4269891