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Active Tension Control for WT Wheelchair Robot by Using a Novel Control Law for Holonomic or Nonholonomic Systems
Joint Authors
Wu, Chengdong
Wang, Jian
Wang, Ting
Yao, Chen
Li, Xiaofan
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-10-02
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
Interactional characteristics between WT wheelchair robot and stair environment are analyzed, and possible patterns of WT wheelchair robot during the stair-climbing process are summarized, with the criteria of the wheelchair robot for determining the pattern proposed.
Aiming at WT wheelchair robot's complicated mechanism with holonomic constraints and combined with the computed torque method, a novel control law that is called active tension control is presented for holonomic or nonholonomic robotic systems, by which the wheelchair robot with a holonomic or nonholonomic mechanism can track the reference input of the constraint forces of holonomic or nonholonomic constraints as well as tracking the reference input of the generalized coordinate of each joint.
A stateflow module of Matlab is used to simulate the entire stair-climbing process for WT wheelchair robot.
A comparison of output curve with the reference input curve of each joint is made, with the effectiveness of the presented control law verified.
American Psychological Association (APA)
Wang, Jian& Wang, Ting& Yao, Chen& Li, Xiaofan& Wu, Chengdong. 2013. Active Tension Control for WT Wheelchair Robot by Using a Novel Control Law for Holonomic or Nonholonomic Systems. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-12.
https://search.emarefa.net/detail/BIM-1008769
Modern Language Association (MLA)
Wang, Jian…[et al.]. Active Tension Control for WT Wheelchair Robot by Using a Novel Control Law for Holonomic or Nonholonomic Systems. Mathematical Problems in Engineering No. 2013 (2013), pp.1-12.
https://search.emarefa.net/detail/BIM-1008769
American Medical Association (AMA)
Wang, Jian& Wang, Ting& Yao, Chen& Li, Xiaofan& Wu, Chengdong. Active Tension Control for WT Wheelchair Robot by Using a Novel Control Law for Holonomic or Nonholonomic Systems. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-12.
https://search.emarefa.net/detail/BIM-1008769
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1008769