Visual servo control of intelligent wheelchair mounted robotic arm

Abstract

A visual servo control system of intelligent wheelchair mounted robotic arm is presented, which consists of intelligent human-machine interaction (HMI), visual servo controller and motion controller. An adaptive visual feedback controller based 2D image is designed, which ensure that the manipulator reaches a desired position quickly and grasps a target. With the help of human-machine interaction (HMI), the WMRA (wheelchair mounted robotic arms) autonomously tracks a steady target and grasps the target via visual servo controller. The experimental results show the system has good performances.