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This paper presents a novel control system for redundant mobile manipulators to track simultaneously separate mobile platform and end-effector trajectories. Two Joint-dependent control variables are introduced to the task vector. These two control variables are D and α, where D is the Euclidean distance between the end-effector's, and the mobile platform's frames origins, and α is the angle of the...
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...
A model of the human upper limb was developed for predicting the motion of the human upper limb while performing activities of daily living. This study focuses on the effect of a joint limit function on the ability of the model to perform human like movements. This measurement was analysed by comparing the modelled joint movements with recorded movements of subjects while drinking from a cup, opening...
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