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
收藏
页码：4524 / +
页数：2
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