- 會議論文
Control of a Power Wheelchair Mobile Platform with Two Omnidirectional Front Wheels
並列摘要
This paper is devoted to introducing the new mechanism of the power wheelchair mobile platform with front omnidirectional caster wheels, Fig. 1 shows the new designed mobile wheelchair platform mechanism from the commercial power wheelchair, and to design a controllers such that can continuous and easily change orientation of the robot over short traveling distances, and the proposed controllers are proven globally asymptotically stable via the Lyapnuov stability theory. Moreover, the designed mobile platform with the simulation and experimental results are conducted to verify the efficacy of the proposed control methods.
延伸閱讀
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