Research On A Controlled System Of Wheelchair Manipulator About Fusion Of Vision And Motion

With the development of the society,the problem of the aging population around the world is becoming more and more serious,and the number of the disabled who have lost their basic independent living capacity is increasing due to physical disabilities caused by various diseases or accidents.The population of the elderly and the disabled is increasing,which has caused the great burden about their nursing work to family and society.At the same time,with the advancement of science and technology,the research on robotics for helping the elderly and the disabled has become increasingly prominent,diversified and intelligent.Aiming at the elderly and the disabled people with high degree of disabilities,this paper describes a wheelchair manipulator system which can assist them to complete simple tasks in daily life and achieve the purpose of helping them to improve self-care ability.Firstly,a lightweight robotic arm based on rope-driven was researched and manufactured to be installed on the platform,and the overall hardware structure of the wheelchair manipulator was built.Based on the study of the tendon-sheath transmission,the structure of the mechanical arm and the corresponding driving mechanism are designed.The design allows the driving motor of the mechanical joint to realize the transmission of driving power outside the arm-body using the principle of rope-driven,thereby greatly reducing the weight of the mechanical arm and increasing the flexibility of operation.Secondly,the kinematic modeling analysis which is based on the structural form of the wheelchair manipulator system is performed.Based on the structure of the wheelchair manipulator and the screw theory,the unified kinematics model is established to complete the forward and reverse kinematics analysis of the wheelchair manipulator system.At the same time,the corresponding Jacobian matrix,the kinematics simulation and the analysis of workspace are carried out for the structure of the wheelchair manipulator system,which lays the foundation for the wheelchair manipulator's motion controlling.Thirdly,according to the target of wheelchair manipulator control,the control system is studied and designed.It is mainly composed of hardware such as host computer,controller,driver and software developed by the program system.By combining human biological vision and machine vision,the control system is designed for the wheelchair manipulator that can complete the discovery,recognition and positioning of the objects in space in order to realize the movement of the wheelchair manipulator to grasp the object.And the controllable program is designed for the wheelchair manipulator system that is based on the Qt Creator and LabVIEW,at the same time the protocol is formulated to realize the communication between the various layers.This completes the overall movement of control for wheelchair manipulator system.Finally,the corresponding experimental analysis is carried out for the wheelchair manipulator system.Some experiments were designed for the structure of wheelchair manipulator and for the process of position and for the movement of the human-robot interaction.The experimental results show that the wheelchair manipulator can fulfill the requirements of the operation to realize the function of helping the elderly and the disabled.