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Alternative TitleDynamic modeling and control for WT wheelchair robot during the stair-climbing process
王剑; 王挺; 姚辰; 李小凡; 吴成东
Source Publication机械工程学报
Indexed ByEI ; CSCD
EI Accession number20143118006183
Contribution Rank1
Funding Organization国家自然科学基金资助项目(60805048)。
Keyword轮椅机器人 楼梯攀爬 完整系统 动力学 控制律
Other AbstractThe characteristics of interaction between WT wheelchair robot and stair environments is analyzed and possible patterns of WT wheelchair robot during the stair-climbing process are summarized, with the criterion to determine the pattern of the wheelchair robot proposed. Aiming at wheelchair robot's complicated hybrid mechanism with holonomic constraints, the theorems of simplification for the mechanism with symmetric independent generalized coordinates and symmetric holonomic constraints are proposed, as well as a novel control law designed for holonomic or nonholonomic robot systems. The Lagrange equation of WT wheelchair robot in each pattern during the stair-climbing process and the generalized coordinate curve of each joint when keeping wheelchair's seat horizontal are obtained.combined with the computed torque method, a so called active tension control law for WT wheelchair robot, which can track the reference input curve of holonomic constraint force when tracking reference input curve of each joint, is obtained. STATEFLOW module in Matlab is used to simulate the whole stair-climbing process for WT wheelchair robot. Finally, there is an experiment verifying the dynamic model and the control law. © 2014 Journal of Mechanical Engineering.
Citation statistics
Cited Times:3[CSCD]   [CSCD Record]
Document Type期刊论文
Recommended Citation
GB/T 7714
王剑,王挺,姚辰,等. WT轮椅机器人攀爬楼梯过程动力学建模与控制[J]. 机械工程学报,2014,50(13):22-34.
APA 王剑,王挺,姚辰,李小凡,&吴成东.(2014).WT轮椅机器人攀爬楼梯过程动力学建模与控制.机械工程学报,50(13),22-34.
MLA 王剑,et al."WT轮椅机器人攀爬楼梯过程动力学建模与控制".机械工程学报 50.13(2014):22-34.
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