Casterless wheelchair robot using inverted pendulum control

P. K.W. Abeygunawardhana, Murakami Toshiyuki

研究成果: Conference contribution

抜粋

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.

元の言語English
ホスト出版物のタイトル1st International Conference on Industrial and Information Systems, ICIIS 2006
ページ288-293
ページ数6
DOI
出版物ステータスPublished - 2006 12 1
イベント1st International Conference on Industrial and Information Systems, ICIIS 2006 - Peradeniya, Sri Lanka
継続期間: 2006 8 82006 8 11

出版物シリーズ

名前1st International Conference on Industrial and Information Systems, ICIIS 2006

Other

Other1st International Conference on Industrial and Information Systems, ICIIS 2006
Sri Lanka
Peradeniya
期間06/8/806/8/11

ASJC Scopus subject areas

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

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  • これを引用

    Abeygunawardhana, P. K. W., & Toshiyuki, M. (2006). Casterless wheelchair robot using inverted pendulum control. : 1st International Conference on Industrial and Information Systems, ICIIS 2006 (pp. 288-293). [4155194] (1st International Conference on Industrial and Information Systems, ICIIS 2006). https://doi.org/10.1109/ICIINFS.2006.347165