The MANUS wheelchair-mounted manipulator: system design and implementation

conference paper
1989
Rosier, J.C.

Woerden, J.A. van

Kolk, L.W. van der

Kwee, H.H.

Duimel, J.J.

Smits, J.J.

Tuinhof de Moed, A.A.

Honderd, G.

Bruyn, P.M.
MANUS is a compact wheelchair-mounted manipulator. A reconfigurable man-machine interface has been developed to adapt MANUS to the wishes of all possible users. To facilitate the control of the manipulator by the user, algorithms have been implemented for the transformation of the movements in Cartesian or polair co-ordinates in displacements of the joint angles. By choosing a control structure with a Jacobean transformation, part of the path planning is inherently performed. First user experiments indicated the need for high manipulator resolution which will be realized by using adaptive and non-linear servo-controllers.
TNO Identifier
530462
Repository link
https://resolver.tno.nl/uuid:947113ae-b40c-4290-abfb-93f672e1b497
Publisher
International Federation of Robotics
Source title
Proceedings of the 20th International Symposium on Industrial Robots, 20th ISIR,4-6 October 1989, Tokyo, Japan
Collation
8 p.
Pages
443-450
Files
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