DocumentCode :
3179058
Title :
Design, Construction and Control of a 7 DoF Wheelchair-Mounted Robotic Arm
Author :
Alqasemi, Redwan ; Edwards, Kevin ; Dubey, Rajiv
Author_Institution :
Dept. of Mech. Eng., Univ. of South Florida, Tampa, FL
fYear :
2006
fDate :
Oct. 2006
Firstpage :
19
Lastpage :
24
Abstract :
A wheelchair-mounted robotic arm (WMRA) 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 mechanical design incorporates DC servo drive, with actuator hardware at each individual joint, allowing reconfigurable link lengths. It has seven degrees of freedom and uses a side mount on a power wheelchair. The control system is built and designed for user-driven or autonomous coordinated Cartesian control, and it offers expandability for future research, such as coordinated motion with the wheelchair itself. This paper discusses the current state of the art in WMRAs; describes the design goals and user requirements for this device; explains the component selection and the mechanical/electrical design; describes the controller design of the arm and optimized redundancy resolution for the Cartesian control. Further improvements are also suggested
Keywords :
DC motor drives; collision avoidance; handicapped aids; manipulators; mobile robots; motion control; servomechanisms; DC servo drive; autonomous coordinated Cartesian control; mobility-impaired persons; wheelchair-mounted robotic arm; Actuators; Control systems; Design optimization; Extremities; Hardware; Mobile robots; Motion control; Robot kinematics; Servomechanisms; Wheelchairs; ADL; Redundancy; Rehab; Robot; WMRA;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0259-X
Electronic_ISBN :
1-4244-0259-X
Type :
conf
DOI :
10.1109/IROS.2006.282573
Filename :
4058723
Link To Document :
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