Modeling and control of a wheelchair considering center of mass lateral displacements
This work presents the kinematic and dynamic modeling of a humanwheelchair system where it is considered that its mass center is not located at the wheels’ axis center of the wheelchair. Furthermore, it is presents a new motion controller for human-wheelchair system that is capable of performing pos...
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| Altres autors: | , , , , , , , |
| Format: | article |
| Idioma: | eng |
| Publicat: |
2015
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| Accés en línia: | https://link.springer.com/chapter/10.1007/978-3-319-22873-0_23 https://hdl.handle.net/20.500.14809/3565 |
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Afegir etiqueta | _version_ | 1859049575199801344 |
|---|---|
| author | Andaluz, Víctor |
| author2 | Canseco, Paul Varela-Aldás, José Ortis, Jessica Pérez, María Morales, Vicente Robertí, Flavio Carelli, Ricardo Ortiz, Jessica |
| author2_role | author author author author author author author author |
| author_facet | Andaluz, Víctor Canseco, Paul Varela-Aldás, José Ortis, Jessica Pérez, María Morales, Vicente Robertí, Flavio Carelli, Ricardo Ortiz, Jessica |
| author_role | author |
| collection | Repositorio Universidad Tecnológica Indoamérica |
| dc.creator.none.fl_str_mv | Andaluz, Víctor Canseco, Paul Varela-Aldás, José Ortis, Jessica Pérez, María Morales, Vicente Robertí, Flavio Carelli, Ricardo Ortiz, Jessica |
| dc.date.none.fl_str_mv | 2015 2022-07-03T23:01:43Z 2022-07-03T23:01:43Z |
| dc.identifier.none.fl_str_mv | https://link.springer.com/chapter/10.1007/978-3-319-22873-0_23 https://hdl.handle.net/20.500.14809/3565 |
| dc.language.none.fl_str_mv | eng |
| dc.publisher.none.fl_str_mv | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Volume 9246, Pages 254 - 270 |
| dc.rights.none.fl_str_mv | https://creativecommons.org/licenses/by/4.0/ info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:Repositorio Universidad Tecnológica Indoamérica instname:Universidad Tecnológica Indoamérica instacron:UTI |
| dc.title.none.fl_str_mv | Modeling and control of a wheelchair considering center of mass lateral displacements |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/article |
| description | This work presents the kinematic and dynamic modeling of a humanwheelchair system where it is considered that its mass center is not located at the wheels’ axis center of the wheelchair. Furthermore, it is presents a new motion controller for human-wheelchair system that is capable of performing positioning and path-following tasks. The proposed controller has the advantage of simultaneously performing the approximation of the robot to the proposed path by the shortest route and limiting its velocity. This controller design is based on two cascaded subsystems: a kinematic controller with command saturation, and a dynamic controller that compensates the dynamics of the robot. © Springer International Publishing Switzerland 2015. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | UTI_dfb2d4d7b5d3252dedee425884d949ab |
| instacron_str | UTI |
| institution | UTI |
| instname_str | Universidad Tecnológica Indoamérica |
| language | eng |
| network_acronym_str | UTI |
| network_name_str | Repositorio Universidad Tecnológica Indoamérica |
| oai_identifier_str | oai:repositorio.uti.edu.ec:20.500.14809/3565 |
| publishDate | 2015 |
| publisher.none.fl_str_mv | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Volume 9246, Pages 254 - 270 |
| reponame_str | Repositorio Universidad Tecnológica Indoamérica |
| repository.mail.fl_str_mv | . |
| repository.name.fl_str_mv | Repositorio Universidad Tecnológica Indoamérica - Universidad Tecnológica Indoamérica |
| repository_id_str | 0 |
| rights_invalid_str_mv | https://creativecommons.org/licenses/by/4.0/ |
| spelling | Modeling and control of a wheelchair considering center of mass lateral displacementsAndaluz, VíctorCanseco, PaulVarela-Aldás, JoséOrtis, JessicaPérez, MaríaMorales, VicenteRobertí, FlavioCarelli, RicardoOrtiz, JessicaThis work presents the kinematic and dynamic modeling of a humanwheelchair system where it is considered that its mass center is not located at the wheels’ axis center of the wheelchair. Furthermore, it is presents a new motion controller for human-wheelchair system that is capable of performing positioning and path-following tasks. The proposed controller has the advantage of simultaneously performing the approximation of the robot to the proposed path by the shortest route and limiting its velocity. This controller design is based on two cascaded subsystems: a kinematic controller with command saturation, and a dynamic controller that compensates the dynamics of the robot. © Springer International Publishing Switzerland 2015.Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Volume 9246, Pages 254 - 2702022-07-03T23:01:43Z2022-07-03T23:01:43Z2015info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articlehttps://link.springer.com/chapter/10.1007/978-3-319-22873-0_23https://hdl.handle.net/20.500.14809/3565enghttps://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessreponame:Repositorio Universidad Tecnológica Indoaméricainstname:Universidad Tecnológica Indoaméricainstacron:UTI2022-09-05T03:29:04Zoai:repositorio.uti.edu.ec:20.500.14809/3565Institucionalhttps://repositorio.uti.edu.ec/Institución privadahttps://indoamerica.edu.ec/https://repositorio.uti.edu.ec/oai.Ecuador...opendoar:02022-09-05T03:29:04Repositorio Universidad Tecnológica Indoamérica - Universidad Tecnológica Indoaméricafalse |
| spellingShingle | Modeling and control of a wheelchair considering center of mass lateral displacements Andaluz, Víctor |
| status_str | publishedVersion |
| title | Modeling and control of a wheelchair considering center of mass lateral displacements |
| title_full | Modeling and control of a wheelchair considering center of mass lateral displacements |
| title_fullStr | Modeling and control of a wheelchair considering center of mass lateral displacements |
| title_full_unstemmed | Modeling and control of a wheelchair considering center of mass lateral displacements |
| title_short | Modeling and control of a wheelchair considering center of mass lateral displacements |
| title_sort | Modeling and control of a wheelchair considering center of mass lateral displacements |
| url | https://link.springer.com/chapter/10.1007/978-3-319-22873-0_23 https://hdl.handle.net/20.500.14809/3565 |