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.
Full Paper
Last modified: Thu Jan 21 10:38:39 PST 1999