Kinematics and Workspace Analysis of xArm6 Robot for Activities of Daily Living.

Recent statistics reveal that the number of individuals with upper or lower extremity dysfunctions has increased alarmingly. It is estimated that approximately 3.3 million Americans use a wheelchair, with an expected 2 million new wheelchair users every year. To assist powered wheelchair users with limited upper limb function, we have been exploring assistive robots that can be mounted on a wheelchair to perform essential activities of daily living (ADL), such as picking/placing an object from out of reach, feeding, etc. In this research, a 6DoF robot, xArm-6 was used as an assistive robot to provide ADL assistance. Experiments were conducted with xArm6 Robot to investigate the motion trajectories and workspace covering essential ADLs. In kinematic analysis, modified Denavit-Hartenberg parameters are used to identify the Robot's motion path and workspace. On the other hand, the iterative Newton-Euler method was used for dynamic analysis to estimate the joint torques corresponding to each ADL. Experimental results show that xArm-6 can be used for some selected ADLs tasks but not for all essential ADLs.