Traveling control of two-wheel wheelchair using variable command

Miyuki Kamatani, Toshiyuki Murakami

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Recently, two-wheel wheelchair has gained a lot of attention because of its high mobility. It has no caster, so it must be kept stable by stabilization control. Operator must move his body back and forth in order to operate the wheelchair. Usually pitch angle command is zero in order that the seat of wheelchair keeps flatly. In this paper, the method of generating pitch angle command is proposed so that wheels accelerate smoothly. Ideal trajectory of wheel velocity is given as curving line and pitch angle command is calculated from this ideal trajectory. The validity of the proposed method is confirmed by the experimental results.

本文言語English
ホスト出版物のタイトルProceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society
出版社Institute of Electrical and Electronics Engineers Inc.
ページ5278-5282
ページ数5
ISBN(印刷版)9781479940325
DOI
出版ステータスPublished - 2014 2 24
イベント40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014 - Dallas, United States
継続期間: 2014 10 302014 11 1

Other

Other40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014
国/地域United States
CityDallas
Period14/10/3014/11/1

ASJC Scopus subject areas

  • 電子工学および電気工学

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