Synchronized motion control for 2D joystick-based electric wheelchair driven by two wheel motors

Mi-Ching Tsai, Po Wen Hsueh

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

6 Citations (Scopus)

Abstract

How to maintain the speed and direction of a wheelchair simultaneously in an unknown environment is essential. This paper presents a prototype of the wheelchair driven by dual direct-drive wheel motors, and the synchronized control scheme of the wheelchair system according to the motion mode of a joystick is proposed. By analyzing the dynamic behavior of a wheelchair, the synchronized error of dual direct-drive wheel motors is derived and a synchronized motion control method is utilized to coordinate the output of a pair of wheel motors to significantly reduce the synchronized error. Simulation and experimental results are given to validate the performance of the synchronized motion control for the wheelchair system.

Original languageEnglish
Title of host publicationAIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
Pages702-707
Number of pages6
DOIs
Publication statusPublished - 2012 Oct 5
Event2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012 - Kaohsiung, Taiwan
Duration: 2012 Jul 112012 Jul 14

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
CountryTaiwan
CityKaohsiung
Period12-07-1112-07-14

Fingerprint

Wheelchairs
Motion control
Wheels

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Tsai, M-C., & Hsueh, P. W. (2012). Synchronized motion control for 2D joystick-based electric wheelchair driven by two wheel motors. In AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest (pp. 702-707). [6266027] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2012.6266027
Tsai, Mi-Ching ; Hsueh, Po Wen. / Synchronized motion control for 2D joystick-based electric wheelchair driven by two wheel motors. AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest. 2012. pp. 702-707 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).
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abstract = "How to maintain the speed and direction of a wheelchair simultaneously in an unknown environment is essential. This paper presents a prototype of the wheelchair driven by dual direct-drive wheel motors, and the synchronized control scheme of the wheelchair system according to the motion mode of a joystick is proposed. By analyzing the dynamic behavior of a wheelchair, the synchronized error of dual direct-drive wheel motors is derived and a synchronized motion control method is utilized to coordinate the output of a pair of wheel motors to significantly reduce the synchronized error. Simulation and experimental results are given to validate the performance of the synchronized motion control for the wheelchair system.",
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Tsai, M-C & Hsueh, PW 2012, Synchronized motion control for 2D joystick-based electric wheelchair driven by two wheel motors. in AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest., 6266027, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp. 702-707, 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012, Kaohsiung, Taiwan, 12-07-11. https://doi.org/10.1109/AIM.2012.6266027

Synchronized motion control for 2D joystick-based electric wheelchair driven by two wheel motors. / Tsai, Mi-Ching; Hsueh, Po Wen.

AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest. 2012. p. 702-707 6266027 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

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

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Tsai M-C, Hsueh PW. Synchronized motion control for 2D joystick-based electric wheelchair driven by two wheel motors. In AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest. 2012. p. 702-707. 6266027. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2012.6266027