Open AccessOptimal Base Placement of a 6-DOFs Robot to Cover Essential Activities of Daily Living
Author(s) -
Javier Dario Sanjuan De Caro,
Md Samiul Haque Sunny,
Elias Munoz Montenegro,
Helal Uddin Ahmed,
Mohammad H Rahman
Publication year - 2022
Publication title -
ieee access
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.587
H-Index - 127
ISSN - 2169-3536
DOI - 10.1109/access.2022.3231990
Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation
The number of individuals with upper or lower extremities dysfunction (ULED) has considerably increased in the past decades resulting in a high economic burden the families and society. Individuals with ULEDs require assistive robots to fulfill all their activities of daily living (ADLs). Thus, this research presents an objective function for base placement optimization of assistive robots to increase the workspace required to fulfill ADLs (workspace coverage). The workspace coverage was determined using the X-arm robot and experimenting with different ADLs. Also, an object collision algorithm is implemented to avoid collisions between the robot and the user within the workspace. Moreover, the algorithm determines the existence of singularities within the workspace by computing the manipulability index. However, since the manipulability index computation depends on the Jacobian matrix’s eigenvalues yielding incongruences in the units, we divided the Jacobian matrix into two parts; one for the angular and another for the linear velocity. Finally, using the objective function with a genetic algorithm (GA), the optimal base placement for the robot is obtained and validated experimentally.