Control of a stair climbing wheelchair

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 s...

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Main Authors:	Abdul Ghani, N. M., Tokhi, M. O., Nasir, A. N. K, Ahmad, Salmiah
Format:	Article
Language:	English
Published:	CSC 2012
Subjects:	TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/29256/ http://irep.iium.edu.my/29256/ http://irep.iium.edu.my/29256/1/795-4931-2-PB.pdf

id	iium-29256
recordtype	eprints
spelling	iium-292562013-04-24T01:16:38Z http://irep.iium.edu.my/29256/ Control of a stair climbing wheelchair Abdul Ghani, N. M. Tokhi, M. O. Nasir, A. N. K Ahmad, Salmiah TJ212 Control engineering 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. CSC 2012 Article PeerReviewed application/pdf en http://irep.iium.edu.my/29256/1/795-4931-2-PB.pdf 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 http://iaesjournal.com/online/index.php/IJRA/article/view/795/pdf
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ212 Control engineering
spellingShingle	TJ212 Control engineering Abdul Ghani, N. M. Tokhi, M. O. Nasir, A. N. K Ahmad, Salmiah Control of a stair climbing wheelchair
description	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.
format	Article
author	Abdul Ghani, N. M. Tokhi, M. O. Nasir, A. N. K Ahmad, Salmiah
author_facet	Abdul Ghani, N. M. Tokhi, M. O. Nasir, A. N. K Ahmad, Salmiah
author_sort	Abdul Ghani, N. M.
title	Control of a stair climbing wheelchair
title_short	Control of a stair climbing wheelchair
title_full	Control of a stair climbing wheelchair
title_fullStr	Control of a stair climbing wheelchair
title_full_unstemmed	Control of a stair climbing wheelchair
title_sort	control of a stair climbing wheelchair
publisher	CSC
publishDate	2012
url	http://irep.iium.edu.my/29256/ http://irep.iium.edu.my/29256/ http://irep.iium.edu.my/29256/1/795-4931-2-PB.pdf
first_indexed	2023-09-18T20:42:55Z
last_indexed	2023-09-18T20:42:55Z
_version_	1777409485385498624

Control of a stair climbing wheelchair

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