Optimization of Wheelchair-Mounted Robotic Arms’ Base Placement by Fusing Occupied Grid Map and Inverse Reachability Map

In a household setting, a wheelchair-mounted robotic arm (WMRA) can be useful for assisting elderly and disabled individuals. However, the current WMRA can only perform movement and grasping tasks through joystick remote control. This method results in low efficiency due to poor coordination between the mobile platform and the robotic arm as well as the numerous operational steps required. To improve the efficiency and success rate of the robot in task execution, this paper proposes a parking location optimization method that combines the occupied grid map (OGM) and the inverse reachability map (IRM). Firstly, the SLAM algorithm is used to collect environment information, which is then stored in the form of an occupied grid map. The robotic arm workspace is then gridded, and the inverse reachability map is calculated based on the grasping pose of the target object. Finally, the optimal position of the mobile platform is obtained by comparing the optimal location point in the inverse reachability map and the obstacle information in the occupied grid map. This process achieves base placement optimization based on the grasping pose. The experimental results demonstrate that this method reduces the user operation time by 97.31% and overall task completion time by 40.57% when executing household environment tasks compared with the joystick control, increasing the range of executable tasks compared with the algorithm of the EL-E robot and reducing task completion time by 23.48% for the same task. This paper presents a parking location optimization method that can improve the grasping efficiency of the robotic arm and achieve parking location position selection for the WMRA in a household environment.