SOLUTION OF INVERSE KINEMATICS FOR WHEELCHAIR MANIPULATOR

Abstract

Creating a manipulator for loading and unloading a wheelchair into/from the trunk of a car is an important project, which aims to provide the disabled driver with freedom of movement without assistance. A number of important tasks have already been solved for the realization of the project, including the development of the design of the manipulator, the creation of a kinematic scheme, the solution of a direct extended problem of kinematics. In this work we will consider the optimal solution of the inverse kinematics problem which is optimal in terms of performance. Objective: to solve the inverse problem of the kinematics of a specific six-wheel manipulator, allowing to find the optimal laws of control in terms of speed and compliance with necessary limitations to ensure movement of the manipulator's seat along the assigned trajectory in absolute space, associated with the car. Methods: The inverse kinematics problem is solved by the Jacobi method [1] with obtaining of vectors of minimal norm. Result: The problem is solved stepwise. The desired trajectory is divided into 2 time steps. The first step up to the sixteenth second is a technical extension of the manipulator from the luggage compartment, bending around the car body. The second stage from the 16th second - linear advancement to the driver's seat by the shortest trajectory. Practical Significance: The results will be used to control the drives, to ensure the motion of the armchair by the assigned trajectory, taking into account the limitations and with a given angular position in the absolute space associated with the car.