Casterless wheelchair robot using inverted pendulum control

P. K.W. Abeygunawardhana, Murakami Toshiyuki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Power assist wheelchair robot is playing a key role in the field of medical welfare robotics. But, to a certain extend, there is a setback in development due to presence of caster wheels. Hence, this paper proposes a casterless wheelchair and its control on a straight line path. That is, Straight line driving of two wheel power assist wheelchair robot was proposed in this paper while keeping stability of wheelchair body itself. Balancing of wheelchair body is proposed to achieve by controlling the inverted pendulum mounted on the wheelchair. Control equations of the system are derived using Lagrange equation of motion. Two separate controllers are designed for two wheels. In addition to these two controller, there is another controller for pendulum. Body controller is designed combining pendulum controller and wheel controller. Disturbance observer is used to cancel disturbance effects. Simulation was carried out to prove the applicability of the proposed system.

Original languageEnglish
Title of host publication1st International Conference on Industrial and Information Systems, ICIIS 2006
Pages288-293
Number of pages6
DOIs
Publication statusPublished - 2006
Event1st International Conference on Industrial and Information Systems, ICIIS 2006 - Peradeniya, Sri Lanka
Duration: 2006 Aug 82006 Aug 11

Publication series

Name1st International Conference on Industrial and Information Systems, ICIIS 2006

Other

Other1st International Conference on Industrial and Information Systems, ICIIS 2006
CountrySri Lanka
CityPeradeniya
Period06/8/806/8/11

ASJC Scopus subject areas

  • Information Systems
  • Information Systems and Management
  • Industrial and Manufacturing Engineering

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