Work

Control of a stair climbing wheelchair

Year: 2012

Type: article

Abstract: This paper presents investigations into the control of a stair climbing wheelchair particularly for indoor\nusage. A virtual wheelchair model is developed using Visual Nastran software and linked with Matlab/Simulink\nfor control purposes. The goals are to have a simple, compact and stable stairs climbing wheelchair in order to\ncomplete the ascending and descending tasks. The challenges are to ensure the wheelchair seat always stay at\nthe upright position and to control both the front and rear wheel motors while climbing. PID control is used to\nprovide appropriate torque to both front and rear wheels as well as at to the wheelchair seat during climbing.\nResults show that the wheelchair movement can be controlled smoothly and the seat maintained at the desired\nposition with the adapted approach. \n

Source: IAES International Journal of Robotics and Automation (IJRA)

DOI: 10.11591/ijra.v1i4.795

Authors: Nor Maniha Abdul Ghani, M.O. Tokhi, A.N.K Nasir, S. Ahmad

Institutions: University of Sheffield, International Islamic University Malaysia

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: diamond

OpenAlex ID: W1965069887

FWCI: 2.921

Cites: 22

Cited by: 18

Related to: 10