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Manual and Adaptive Kinematic Control of a Mecanum Omnidirectional Wheelchair
|關鍵字:||Manual;麥卡倫;Wheelchair;Omnidirectional;Adaptive;輪椅;全方位移動平台;自適應控制||出版社:||電機工程學系所||引用:|| J. F. Blumrich, Omnidirectional vehicle, United States Patent 3,789,947, 1974.  B. E. Ilou, Wheels for a course stable self-propelling vehicle movable in any desired direction on the ground or some other base, United States Patent 3,876,255, 1975.  M. West, H. Asada, “Design of ball wheel mechanisms for omnidirectional vehicles with full mobility and invariant kinematics,” Journal of Mechanical Design, pp. 119-161, 1997.  M. Wada, S. Mory “Holonomic and omnidirectional vehicle with conventional tires,” in Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3671-3676, 1996.  B .Carlisle, “An omnidirectional mobile robot,” Development in Robotics, Kempston, pp.79-87, 1983.  F. G. Pin, S. M. Killough, “A new family of omnidirectional and holonomic wheeled platforms for mobile robot,” IEEE Transactions on Robotics and Automation, vol. 15, no. 6, pp. 978-989, 1999.  P. 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Hira, “Development of Omnidirectional Electric Wheelchair with Zabuton Sensor,” in Proc. of International Conference on Control, Automation and Systems 2008, pp. 2087-2090, Oct. 14-17, 2008.  Robert E. “Digital Controls for an Omnidirectional Wheelchair,” Proceedings of 1983 American Control Conference, pp. 225-228, June 22-24, 1983.  H. Kitagawa, T. Kobayashi, T. Beppu and K. Terashima, “Semi-Autonomous Obstacle Avoidance of Omnidirectional Wheelchair by Joystick Impedance Control,” in Proc. 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2148 - 2153||摘要:||
This thesis presents methodologies and techniques for system design, manual control, adaptive kinematic control and embedded implementations for an omnidirectional wheelchair with four Mecanum wheels. An open-loop manual controller is designed to carry out desired motions, and a closed-loop manual controller is synthesized in the moving frame to achieve command tracking exactly. An adaptive kinematic control is derived in the world frame and shown asymptotically stable via the Lyapunov stability theory. All the controllers have been implemented into an FPGA development board using System-on-a-programmable-chip (SoPC) technology. Simulations and experimental results are conducted to illustrate the effectiveness and performance of the proposed controllers for Mecanum wheeled omnidirectional wheelchairs.
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