九自由度轮椅机械臂系统的冗余控制与优化

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI:10.1109/CIRA.2007.382891

Redwan Alqasemi, R. Dubey

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引用次数: 4

摘要

设计并制造了一种轮椅式机械臂(WMRA)系统，以满足上肢受限的行动障碍者的需求，并超越了现有此类设备的能力。该九自由度控制系统在传统控制方法的基础上进行了扩展，将七自由度机械臂控制与二自由度电动轮椅控制相结合。3度冗余被优化，以有效地执行日常生活活动(adl)，克服奇点、关节限制和一些工作空间限制。该控制系统专为远程操作或自主协调笛卡尔控制而设计，并为未来的研究提供了可扩展性，例如语音或啜吸控制操作以及传感器辅助功能。

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

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.

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2007 International Symposium on Computational Intelligence in Robotics and Automation

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