Modelo dinámico e controle de uma cadeira de rodas robótica

CELSO DE LA CRUZ; WANDERLEY CARDOSO; TEODIANO FREIRE BASTOS; MARIO SARCINELLI; RICARDO CARELLI

Juiz de Fora, Minas Gerais, Brasil

Congreso; XVII Congresso Brasileiro de Automatica, CBA; 2008

Asociación Brasilera de Control Automático

This paper addresses a model which considers the dynamic e®ects on a power wheelchair. Among such e®ects, it is emphasized the wheelchair center of mass, which can be changed according the position of the passenger on board of the vehicle. The obtained model, whose inputs are linear and angular reference velocities, is parameterized, identi¯ed and, ¯nally, validated. A trajectory tracking controller based on the parameterized model is also proposed. Experiments with the Pioneer 2DX robot, which transportation an extra-load that provokes a displacement of the robot center of mass, are performed, emulating an e®ect normally observed in wheelchairs. Such experiments consist of autonomous mobile vehicle parameters identi¯cation, validation of such parameters and application of the model using the proposed controller.