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...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
CSC
2012
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/29256/ http://irep.iium.edu.my/29256/1/795-4931-2-PB.pdf |
| _version_ | 1848780089469173760 |
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| 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. |
| building | IIUM Repository |
| collection | Online Access |
| 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. |
| first_indexed | 2025-11-14T15:28:07Z |
| format | Article |
| id | iium-29256 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T15:28:07Z |
| publishDate | 2012 |
| publisher | CSC |
| recordtype | eprints |
| repository_type | Digital Repository |
| 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 |
| spellingShingle | TJ212 Control engineering Abdul Ghani, N. M. Tokhi, M. O. Nasir, A. N. K Ahmad, Salmiah Control of a stair climbing wheelchair |
| title | 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_short | Control of a stair climbing wheelchair |
| title_sort | control of a stair climbing wheelchair |
| topic | TJ212 Control engineering |
| 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 |