Abstract
In this paper, a control method to improve the static stability of two-wheeled wheel chair is proposed. The two-wheeled wheel chair is the wheel chair without caster wheels, and moves and stabilizes with only two wheels. It has good operability and capability to go over a step. However, two-wheeled wheel chair has difficulty in statical stabilization because of the structure. In this paper, the steering system is introduced to the two-wheeled wheel chair. The effect of braking force from the higher inertia and the strain of tires are considered. A miniaturized two-wheeled wheel chair with steering motors is made to conduct experiments. The validity of proposed method is checked through experiment, and the results are evaluated by the movement distance and the change of pitch angle.
| Original language | English |
|---|---|
| Title of host publication | IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 2154-2159 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781479917624 |
| DOIs | |
| Publication status | Published - 2016 Jan 25 |
| Event | 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan Duration: 2015 Nov 9 → 2015 Nov 12 |
Other
| Other | 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 |
|---|---|
| Country/Territory | Japan |
| City | Yokohama |
| Period | 15/11/9 → 15/11/12 |
Keywords
- Mobile Robots
- Observers
- Sensorless Control
- Stabilized Control
- Two-wheeled wheel chair
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering