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Control of a stair climbing wheelchair

Abdul Ghani, N. M. and Tokhi, M. O. and Nasir, A. N. K and Ahmad, Salmiah (2012) Control of a stair climbing wheelchair. International Journal of Robotics and Automation (IJRA), 1 (4). pp. 203-213. ISSN 2089-4856

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Abstract

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

Item Type: Article (Journal)
Additional Information: 4113/29256
Uncontrolled Keywords: PID control; Stable; Stair climbing; Upright; Wheelchair
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Dr. Salmiah Ahmad
Date Deposited: 24 Apr 2013 09:16
Last Modified: 24 Apr 2013 09:16
URI: http://irep.iium.edu.my/id/eprint/29256

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