INTEGRATED CONTROL OF DESKTOP MOUNTED MANIPULATOR AND A WHEELCHAIR

Dimiter Stefanov
Institute of Mechanics, Bulgarian Academy of Sciences

Abstract

This paper describes a system for movement assistance and indoor transportation, realized by desktop mounted manipulator and an omni-directional powered wheelchair, controlled by the same set of userŐs commands. The repeatable robot movements in a preprogrammed mode require one and the same initial wheelchair position irrespective of the manipulator. A design approach to a specialized automatic navigation system capable of performing fine guidance of the wheelchair to a preliminary determined place is discussed. Examples of navigation systems based on inductive and optoelectronic sensors are described too. A common control system of a wheelchair and a robot by usage of head movements is also included.
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Last modified: Thu Jan 21 10:38:39 PST 1999