Development of a User-Friendly Simulation Model and Control System for Wheelchair-Mounted Robots Performing Pick-and-Place Tasks in Assistive Environments

Assistive robotic arms enhance autonomy and quality of life for individuals with mobility impairments, yet there remains a need for more efficient, user-friendly technologies. Simulation offers a cost-effective approach for development and testing, but existing models primarily focus on industrial and service robots rather than wheelchair-mounted robotic arms for assistive tasks. This research develops and validates a simulation model for wheelchair-mounted robots performing pick-and-place tasks in assistive environments. The platform integrates kinematic and dynamic control, along with Bluetooth joystick support mimicking a wheelchair joystick. It enables precise movement control and mode selection via intuitive push buttons, while indicator lights provide immediate feedback to enhance user interaction. The prototype, incorporating a wheelchair joystick, closely aligns with simulation results, effectively executing object manipulation tasks. This simulation tool streamlines the development process and offers a scalable solution for future assistive robotic systems, bridging the gap between design and real-world implementation.