Fuzzy Control of the Robotic Arm for a Smart Electric Wheelchair to Assist People with Movement Disabilities

摘要

Robotic support arms (RSAs) have the potential to allow people with disabilities in both upper limbs and lower limbs greater independence, allowing them to perform the necessary physical activities every day. Disabled people usually use RSAs while sitting in an electric wheelchair (EW). This paper will present the Kinova Gen3 lite assistance robot's fuzzy control for people with personal needs mounted on an electric wheelchair. A controller based on fuzzy logic with the algorithm for formulating fuzzy rules on software and effective control for a 6-DOF robotic arm simulates the robotic arm's operation to perform the following two tasks: serving the user a glass of water and inserting a plug into the socket. The parameters that characterize the robotic arm will be used for the simulator to mimic the actual response. The fuzzy logic controller is applied to the robot arm and then executed on the entire robotic arm to control the desired tasks.