The main objective of the work presented in this book is to improve the control structure for the new Wheelchair Mounted Robotic Arm (WMRA) to include new algorithms for optimized task execution; that is, making the WMRA a modular task oriented mobile manipulator. The main criterion to be optimized is the fashion in which the wheelchair approaches a final target as well as the starting and final orientation of the wheelchair. This is a novel approach in non-holonomic wheeled manipulators that will help in autonomously executing complex activities of daily living (ADL) tasks. The WMRA is a 9...