Two prototypes of a 9-DoF wheelchair-mounted robotic arm (WMRA) have been developed as assistive devices, consisting of a 7-DoF robotic arm and a 2-DoF power wheelchair. Combined kinematics and redundancy resolution have been previously implemented. In this work, we focus on control methods to allow autonomous mobility and manipulation for the execution of activities of daily living (ADL). Resu...

In this study, a novel control algorithm, based on a P300-based brain-computer interface (BCI) is fully developed to control a 2-DoF robotic arm. Eight subjects including 5 men and 3 women perform a 2-dimensional target tracking in a simulated environment. Their EEG (Electroencephalography) signals from visual cortex are recorded and P300 components are extracted and evaluated to perform a real...

For robotic manipulators that are redundant or with high degrees of freedom (dof ), an analytical solution to the inverse kinematics is very difficult or impossible. Pioneer 2 robotic arm (P2Arm) is a recently developed and widely used 5-dof manipulator. There is no effective solution to its inverse kinematics to date. This paper presents a first complete analytical solution to the inverse kine...

In this paper, we will explore combining the manipulation of a robotic arm and the mobility of a mobile platform, both in theory and in hardware implementation. First, the kinematic equations of the 7-DoF redundant robotic arm and the 2-DoF non-holonomic mobile platform will be introduced. Second, we will derive the Jacobian equations of the robotic arm and the mobile platform. The two Jacobian...

Robotic arm is a mechanical arm to perform the desired task. In today’s world there is an increasing need to create artificial arms for different inhuman situations where human interaction is difficult or impossible. Humans pick things up without thinking about the steps involved. So the robotic arm is controlled manually by using wired and wireless. In this paper, various methods were studied ...

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...

Paper presents the design, development, and implementation of a Four-Degree-of-Freedom (Four-DOF) Robotic Arm System tailored for purpose efficient goods transport. The increasing demand automation in logistics industrial sectors has prompted need versatile robotic solutions capable manipulating objects various environments. proposed arm system addresses this by offering four independent degree...