Modeling and Control of a Wheelchair Considering Center of Mass Lateral Displacements

VICTOR ANDALUZ; PAUL CANSECO; JOSE VARELA; JESSICA ORTIZ; FLAVIO ROBERTI; RICARDO CARELLI

LECTURE NOTES IN COMPUTER SCIENCE

Springer International Publishing

Año: 2015 vol. 9246 p. 254 - 270

0302-9743

This work presents the kinematic and dynamic modeling of a human-wheelchair system where it is considered that its mass center is not located at the wheels? axis center of the wheelchair. Furthermore, it is presents a new motion controller for human-wheelchair system that is capable of performing positioning and path-following tasks. The proposed controller has the advantage of simultaneously performing the approximation of the robot to the proposed path by the shortest route and limiting its velocity. This controller design is based on two cascaded subsystems: a kinematic controller with command saturation, and a dynamic controller that compensates the dynamics of the robot.