DDH-I second what Oakleaf said. I have the same problem with perfectionism and cleaning avoidance, because my mom found it easier to do it herself.

I take my mom to a lot of appointments. I don't have kids, but I have a full time job. Things got a lot better for me when I started printing out my schedule, bringing to my mom's appointments, then setting the appointment time with the scheduler myself. If you don't have access to a calendar program, go to this website.
http://myboatclub.com/

You should spend some computer time surfing your county's website looking for what sort of help is out there for senior adults. There may be more than you think.

As for her *****ing, well, you just have to blow it off. Talk is cheap.