Frequency shape control of omni-directional wheelchair to increase user's comfort
Frequency shape control of omni-directional wheelchair to increase user's comfort
复制标题
全向轮椅的频率形状控制，提高使用者的舒适度
DOI：
10.1109/robot.2004.1307542
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
H. Kitagawa
中科院分区：
文献类型：
--
作者：
K. Terashima;T. Miyoshi;J. Urbano;H. Kitagawa
全向轮椅在住宅、办公室和医院等狭窄或拥挤的区域具有很高的机动性。然而，随着全向轮椅自由度的增加，开发平滑且无振动的运动控制系统变得比过去更加重要。本文提出了一种考虑轮椅和使用者振动抑制的新型全向轮椅运动控制方法。在所提出的控制系统中，通过在轮椅和人体器官的固有频率处刻划频率特性来抑制轮椅的振动。所设计的控制器仅使用轮椅位置数据的反馈来满足各种控制规范，例如稳定时间和稳定性。所提出系统的有效性是通过连接到轮椅上的传感器的输出信号以及对多个用户的描述性检查来评估的。
An omni-directional wheelchair is highly maneuverable in narrow or crowded areas such as residences, offices and hospitals. However, with the increase in the degrees of freedom accompanying omni-directional wheelchairs, it has become more important than in the past to develop a smooth and vibrationless motion control system. This paper presents a novel motion control method for an omni-directional wheelchair considering the suppression of vibration of both the wheelchair and the user. In the proposed control system, the vibration of the wheelchair is suppressed by notching the frequency characteristics at the natural frequency of both the wheelchair and human's organs. The designed controller satisfies various control specifications such as settling time and stability by using feedback from only the wheelchair's position data. The effectiveness of the proposed system is evaluated by the output signal of a sensor attached to the wheelchair and by a descriptive inspection of several users.