Self sustaining wheelchair robot on a curved trajectory

P. K.W. Abeygunawardhana, Murakami Toshiyuki

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

1 Citation (Scopus)

Abstract

Today, aged population is increasing in the world, especially in developed countries. Handicapped people could not fulfill their own task without difficulties. Therefore, medical and welfare robotics has become important. Power assist wheelchair robot has been effective in this field for many years. But, to a certain extend, there is a setback in development due to presence of caster wheels. Turning, overcoming obstacles and reversing will be easy without casters. Casterless wheelchair and its control on a straight line was presented in author's previous paper. Two wheel wheelchair robot on curved trajectory is proposed in this paper. 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. 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 publication2006 IEEE International Conference on Industrial Technology, ICIT
Pages1636-1641
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
Duration: 2006 Dec 152006 Dec 17

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
CountryIndia
CityMumbai
Period06/12/1506/12/17

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Abeygunawardhana, P. K. W., & Toshiyuki, M. (2006). Self sustaining wheelchair robot on a curved trajectory. In 2006 IEEE International Conference on Industrial Technology, ICIT (pp. 1636-1641). [4237831] (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2006.372509