Control method of power-assisted cart with one motor, a differential gear, and brakes based on motion state of the cart

Akira Seino, Yuta Wakabayashi, Jun Kinugawa, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this study, we propose a control strategy for a power-assisted cart based on its motion state. The power-assisted cart we developed has one motor, a differential gear, and brakes. This cart uses the motor and the differential gear for moving forward, and applying brakes to either wheel allows the cart to turn both left and right. Therefore, the power-assisted cart can support the user when going straight and turning despite having only one motor. In the past we developed a control method that allows to control the cart's speed around the operation point in order to keep its magnitude constant when the cart starts turning. This was necessary, as the differential gear causes a speed change during turning, because of its characteristics. However, the desired behavior when transitioning from straight motion to turning motion is different to the desired behavior when going from turning motion to straight motion. Therefore, in this paper we propose a control method to adjust the speed in the direction of motion based on the state of the cart. We validated the effectiveness of the proposed method through experiments and discussed the results.

Original languageEnglish
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2829-2834
Number of pages6
ISBN (Electronic)9781538626825
DOIs
Publication statusPublished - 2017 Dec 13
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
Duration: 2017 Sep 242017 Sep 28

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2017-September
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Country/TerritoryCanada
CityVancouver
Period17/9/2417/9/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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