Combined mobility and manipulation control of a newly developed 9-dof wheelchair-mounted robotic arm system

被引：4

作者：

Alqasemi, Redwan ^{[1
]}

Dubey, Rajiv ^{[1
]}

机构：

[1] Univ S Florida, Dept Mech Engn, Tampa, FL 33620 USA

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

关键词：

redundancy; robot; WMRA; ADL; rehab;

D O I：

10.1109/ROBOT.2007.364176

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 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 daffy living (ADLs) and overcome some workspace limitations. The control system is designed for teleoperated or autonomous coordinated Cartesian control, and it offers expandabitity for future research, such as voice or sip and puff control operations and sensor assist functions.

引用

页码：4524 / +

页数：2

共 14 条

[1]

ALQASEMI RM, 2005, P ICORR 05 CHIC JUN

[2]

CHAN TF, 1995, 1995 IEEE ROBOTICS A, V11, P286

[3] Robust interaction control of a mobile manipulator - Dynamic model based coordination [J].

Chung, JH ;

Velinsky, SA .

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 1999, 26 (01) :47-63

[4]

Craig J., 2003, Introduction to Robotics: Mechanics and Control

[5]

EFTRING H, 1999, P ICORR 99, P136

[6] Control-based solution to inverse kinematics for mobile manipulators using penalty functions [J].

Galicki, M .

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2005, 42 (03) :213-238

[7]

HOLLY AY, 1998, AAAI SPR S INT ROB R

[8]

LUCA A, 2006, P 2006 IEEE INT C RO, P1867

[9]

Mahoney RM, 2001, ASSIST TECHN RES SER, V9, P135

[10]

Nakamura Y., 1991, Advanced robotics : redundancy and optimization

← 1 2 →