Redundancy control and optimization of a 9-DoF wheelchair-mounted robotic arm system

被引：0
|
作者：
Alqasemi, Redwan [1 ]
Dubey, Rajiv [1 ]
机构：
[1] Univ S Florida, Dept Mech Engn, Tampa, FL 33620 USA
来源：
2007 INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION | 2007年
关键词：
rehabilitation; redundancy; robot; ADL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
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页码：324 / +
页数：2
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