TY - GEN
T1 - Synchronized motion control for 2D joystick-based electric wheelchair driven by two wheel motors
AU - Tsai, Mi Ching
AU - Hsueh, Po Wen
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84866918182&partnerID=8YFLogxK
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U2 - 10.1109/AIM.2012.6266027
DO - 10.1109/AIM.2012.6266027
M3 - Conference contribution
AN - SCOPUS:84866918182
SN - 9781467325752
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 702
EP - 707
BT - AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
T2 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
Y2 - 11 July 2012 through 14 July 2012
ER -