Synchronized motion control for power-wheelchairs

Mi-Ching Tsai, Kai Sheng Wu, Po Wen Hsueh

研究成果: Conference contribution

4 引文 斯高帕斯(Scopus)

摘要

This paper presents a dual-wheeled synchronized control scheme of a power-wheelchair according to the motion mode of a joystick operated by disabled people. Recently, wheelchairs are required to have the ability to adapt to roads with uneven ground or unexpected obstacles. Therefore, how to simultaneously maintain the speed and direction of a power-wheelchair in an unknown environment is an important issue. To this end, an active synchronized control structure with the PI compensator has been proposed. In this research, the motion of the wheelchair is classified into straight and curved mode based on the joystick operation; meanwhile, the synchronized motion ratio is also calculated by operating a joystick. From analyzing the dynamic behavior of a power-wheelchair, synchronized error of the dual wheels can be derived. In particular, through the design of a PI compensator, the synchronized error between the dual wheels can be reduced actively. Simulations and experiments are both conducted to realize the synchronized control of a power-wheelchair.

原文English
主出版物標題2009 4th International Conference on Innovative Computing, Information and Control, ICICIC 2009
頁面908-913
頁數6
DOIs
出版狀態Published - 2009 十二月 1
事件2009 4th International Conference on Innovative Computing, Information and Control, ICICIC 2009 - Kaohsiung, Taiwan
持續時間: 2009 十二月 72009 十二月 9

出版系列

名字2009 4th International Conference on Innovative Computing, Information and Control, ICICIC 2009

Other

Other2009 4th International Conference on Innovative Computing, Information and Control, ICICIC 2009
國家/地區Taiwan
城市Kaohsiung
期間09-12-0709-12-09

All Science Journal Classification (ASJC) codes

  • 計算機理論與數學
  • 電腦網路與通信
  • 軟體

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