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Autonomous Mobility And Manipulation Of A 9-Dof Wmra, William Garrett Pence
Autonomous Mobility And Manipulation Of A 9-Dof Wmra, William Garrett Pence
USF Tampa Graduate Theses and Dissertations
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" …