Maximizing Manipulation Capabilities of Persons with Disabilities Using a Smart 9-degree-of-freedom Wheelchair-mounted Robotic Arm System PDF Download

Author: Redwan M. Alqasemi
Publisher:
ISBN:
Category :
Languages : en
Pages : 443

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Book Description
Physical and cognitive disabilities make it difficult or impossible to perform simple personal or job-related tasks. The primary objective of this research and development effort is to assist persons with physical disabilities to perform activities of daily living (ADL) using a smart 9-degrees-of-freedom (DOF) modular wheelchair-mounted robotic arm system (WMRA).

Author: Redwan Alqasemi
Publisher:
ISBN: 9789533070704
Category :
Languages : en
Pages :

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Book Description
A wheelchair-mounted robotic arm (WMRA) was designed and built to meet the needs of mobility-impaired persons, and to exceed the capabilities of current devices of this type. Combining the wheelchair control and the arm control through the augmentation of the Jacobian to include representations of both resulted in a control system that effectively and simultaneously controls both devices at once. The control system was designed for coordinated Cartesian control with singularity robustness and task-optimized combined mobility and manipulation. Weighted Least Norm solution was implemented to prioritize the motion between different arm joints and the wheelchair. Modularity in both the hardware and software levels allowed multiple input devices to be used to control the system, including the Brain-Computer Interface (BCI). The ability to communicate a chosen character from the BCI to the controller of the WMRA was presented, and the user was able to control the motion of WMRA system by focusing attention on a specific character on the screen. Further testing of different types of displays (e.g. commands, picture of objects, and a menu display with objects, tasks and locations) is planned to facilitate communication, mobility and manipulation for people with severe.

Author: William Garrett Pence
Publisher:
ISBN:
Category :
Languages : en
Pages :

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Book Description
The wheelchair-mounted robotic arm (WMRA) is a 9-degree of freedom (DoF) assistive system that consists of a 2-DoF modified commercial power wheelchair and a custom 7-DoF robotic arm. Kinematics and control methodology for the 9-DoF system that combine mobility and manipulation have been previously developed and implemented. This combined control allows the wheelchair and robotic arm to follow a single trajectory based on weighted optimizations. However, for the execution of activities of daily living (ADL) in the real-world environment, modified control techniques have been implemented. In order to execute macro ADL tasks, such as a "go to and pick up" task, this work has implemented several control algorithms on the WMRA system. Visual servoing based on template matching and feature extraction allows the mobile platform to approach the desired goal object. Feature extraction based on scale-invariant feature transform (SIFT) gives the system object detection capabilities to recommend actions to the user and to orient the arm to grasp the goal object using visual servoing. Finally, a collision avoidance system is implemented to detect and avoid obstacles when the wheelchair platform is moving towards the goal object. These implementations allow the WMRA system to operate autonomously from the beginning of the task where the user selects the goal object, all the way to the end of the task where the task has been fully completed.

Author: Ana Catalina Torres Rocco
Publisher:
ISBN:
Category :
Languages : en
Pages :

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Book Description
ABSTRACT: A Wheelchair-Mounted Robotic Arm (WMRA) was designed to aid people with limited or no upper-limb usage to accomplish activities of daily living (ADLs). The primary objective of this research was to enhance the performance of the WMRA by improving the communication protocols and functions between the hardware and software used for its control. Previously, the control algorithm of the robotic arm was tested in simulation and in the physical arm. These implementations required a combination of Matlab and C++ language and introduced some software instability under Windows operating system. To improve the performance of the WMRA, the programs for hardware control were separated from the ones intended for simulation. The control algorithm of the arm was rewritten using C++ language to facilitate the communication with the controller boards and to make the system more stable and reliable. As a result, the communication delays were decreased since the interfaces between different programs is no longer needed. Preliminary tests were performed to demonstrate the stability and reliability of the new control algorithm. The overall response of the control implementation was enhanced and the algorithm routines and optimization procedures achieved the same goals with more efficiency. Accuracy and repeatability tests were performed, and data was collected and analyzed.

Author: Punya A. Basnayaka
Publisher:
ISBN:
Category :
Languages : en
Pages :

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Book Description
ABSTRACT: Implementation of C++ and Matlab based control of University of South Florida's latest wheelchair-mounted robotic arm (USF WMRA-II), which has 9 degrees-of-freedom, was carried out under this Master's thesis research. First, the rotational displacements about the 7 joints of the robotic arm were calibrated. It was followed by setting the control gains of the motors. Then existing high-level programs developed using C++ and Matlab for USF WMRA-I were modified for WMRA-II. The required low-level programs to provide complete kinematics of the joint movements to the controller board of WMRA-II (Galil DMC-2183) were developed using C++. A test GUI was developed using C++ to troubleshoot the control program and to evaluate the operation of the robotic arm. It was found that WMRA-II has higher repeatability, accuracy and manipulability as well as lower power consumption than WMRA-I. Touch-Screen and Spaceball user interfaces were successfully implemented to facilitate people with different disabilities.

Author: Redwan Alqasemi
Publisher:
ISBN: 9789533070704
Category : Technology
Languages : en
Pages :

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Book Description
A 9-DoF Wheelchair-Mounted Robotic Arm System: Design, Control, Brain-Computer Interfacing, and Testing.

Author: Fabian Farelo
Publisher:
ISBN:
Category :
Languages : en
Pages :

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Book Description
ABSTRACT: The main objective of my research is to improve the control structure for the new Wheelchair Mounted Robotic Arm (WMRA) to include new algorithms for optimized task execution; that is, making the WMRA a modular task oriented mobile manipulator. The main criterion to be optimized is the fashion in which the wheelchair approaches a final target as well as the starting and final orientation of the wheelchair. This is a novel approach in non-holonomic wheeled manipulators that will help in autonomously executing complex activities of daily living (ADL) tasks. The WMRA is a 9 degree of freedom system, which provides 3 degrees of kinematic redundancy. A single control structure is used to control the WMRA system, which gives much more flexibility to the system. The combination of mobility and manipulation expands the workspace that a mobile base attains to a manipulator. This approach opens a broad field of applications: from maintenance and storage to rehabilitation robotics. This structure is based on optimization algorithms that can resolve redundancy based on several subtasks: maximizing the manipulability measure, minimizing the joint velocities (hence minimizing the energy), and avoiding joint limits. This work utilizes redundancy to control 2 separate trajectories, a primary trajectory for the end-effector and an optimized secondary trajectory for the wheelchair. Even though this work presents results and implementation in the WMRA system, this approach offers expandability to many wheeled base mobile manipulators in different types of applications. The WMRA usage was simulated in a virtual environment, by developing a test setting for sensors and task performance. The different trajectories and tasks can be shown in a virtual world created not only for illustration purposes, but to provide training to the users once the system is ready for use.

Author: Fabian Farelo
Publisher: LAP Lambert Academic Publishing
ISBN: 9783844328479
Category :
Languages : en
Pages : 152

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Book Description
The main objective of the work presented in this book is to improve the control structure for the new Wheelchair Mounted Robotic Arm (WMRA) to include new algorithms for optimized task execution; that is, making the WMRA a modular task oriented mobile manipulator. The main criterion to be optimized is the fashion in which the wheelchair approaches a final target as well as the starting and final orientation of the wheelchair. This is a novel approach in non-holonomic wheeled manipulators that will help in autonomously executing complex activities of daily living (ADL) tasks. The WMRA is a 9 DoF system, which provides 3 degrees of kinematic redundancy. A single control structure is used to control the WMRA system, which gives much more flexibility to the system. The combination of mobility and manipulation expands the workspace opening a broad field of applications: from maintenance and storage to rehabilitation robotics. This structure is based on optimization algorithms that can resolve redundancy based on several subtasks: maximizing the manipulability measure, minimizing the joint velocities (hence minimizing the energy), and avoiding joint limits.

Author: Kevin D. Edwards
Publisher:
ISBN:
Category :
Languages : en
Pages :

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Book Description
ABSTRACT: A wheelchair-mounted robotic arm (WMRA) was designed and built to meet the needs of mobility-impaired persons, and to exceed the capabilities of current devices of this type. The mechanical design incorporates DC servo drive, with all actuator hardware at each individual joint, allowing reconfigurable link lengths. It has seven principal degrees of freedom and uses a side mount on a power wheelchair. A simple, scalable control system allows coordinated Cartesian control, and offers expandability for future research, such as coordinated motion with the wheelchair itself. Design payload including gripper is 6 kg, and the total arm mass with controller is 14 kg. These and other design attributes were confirmed through testing on the completed prototype.

Author: Daniel Ashley
Publisher:
ISBN:
Category : Artificial arms
Languages : en
Pages : 54

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Book Description
The calibration of a 9 degree of freedom (DOF) robotic manipulator using multiple three axis accelerometers and an embedded system will be accomplished in this work. The 9-DOF robotic system used in this study is a 7-DOF robotic arm attached to a 2-DOF power wheelchair. Combined they create a Wheelchair Mounted Robotic Arm (WMRA). The problem that will be solved by this thesis is the calibration of the robotic system during start up. The 7 DOF robotic arm is comprised of rotational joints only. These joints have dual channel encoders to determine the joint position, among other useful data. The problem with dual channel encoders is that when power to the encoders is turned off and the motor is moved, then the robot controller does not have accurate position data when the system is powered again. The proposed calibration method will find the angles of two joints per three axis accelerometer. Four separate accelerometers are mounted on different locations of the 7 DOF robotic arm to determine the arms joint values. To determine the orientation of the base frame, an inertial measurements unit (IMU) is mounted to the origin of the base frame. By using this system of accelerometers and inertial measurement unit, the WMRA can be completely calibrated during system start up. The results collected for this calibration method show joint estimations with an error of +-0.1 radians for each joint. The results also show an accumulation of error for joints that are farther from the base frame.