Frequency shape control of omni-directional wheelchair to increase user's comfort

被引:19
作者
Terashima, K [1 ]
Miyoshi, T [1 ]
Urbano, J [1 ]
Kitagawa, H [1 ]
机构
[1] Toyohashi Univ Technol, Dept Prod Syst Engn, Toyohashi, Aichi 4418580, Japan
来源
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年
关键词
D O I
10.1109/ROBOT.2004.1307542
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
An omni-directional wheelchair is highly maneuverable in narrow or crowded areas such as residences, offices and hospitals. However, with the increase in the degrees of freedom accompanying omni-directional wheelchairs, it has become more important than in the past to develop a smooth and vibrationless motion control system. This paper presents, a novel motion control method for an omni-directional wheelchair considering the suppression of vibration of both the wheelchair and the user. In the proposed control system, the vibration of the wheelchair is suppressed by notching the frequency characteristics at the natural frequency of both the wheelchair and human's organs. The designed controller satisfies various control specifications such as settling time and stability by using feedback from only the wheelchair's position data. The effectiveness of the proposed system is evaluated by the output signal of a sensor attached to the wheelchair and by a descriptive inspection of several users.
引用
收藏
页码:3119 / 3124
页数:6
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