Publisher: Trans Tech Publications
E-ISSN: 1662-7482|2015|789|906-912
ISSN: 1660-9336
Source: Applied Mechanics and Materials, Vol.2015, Iss.789, 2015-10, pp. : 906-912
Disclaimer: Any content in publications that violate the sovereignty, the constitution or regulations of the PRC is not accepted or approved by CNPIEC.
Abstract
A slip controller that can move against the off-track and control excursion caused by slips while driving a motorized wheelchair is proposed. Detecting slips in a motorized wheelchair is to detect states of the motorized wheelchair and its motors in a traveling condition. For carrying it, slip ratios are calculated using a slip detection algorithm based on the information obtained from the six-axis IMU sensor and the encoders, which are connected to both left and right motors. The calculated slip ratios are used as control variables for improving the safety in a motorized wheelchair. In the experiment of the slip controller proposed in this study, slips are verified in a proposed track. Also, it is verified that the maximum slip ratio section is determined while turning left or right.
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