A CASTOR WHEEL CONTROLLER FOR DIFFERENTIAL DRIVE WHEELCHAIRS

Bernd Gersdorf, Shi Hui

2010

Abstract

This paper describes a motion controller for differential drive vehicles with a compensation for castor wheel turn forces. The controller has been developed for electric wheelchairs with two front castor wheels, which require large steering forces to move into the direction given by the joystick in situations where a sharp turn of the castor wheels is needed. It computes the required forces to turn the castor wheels and modifies the drive request adequately. This also helps physical or cognitive impaired users who otherwise have to compensate castor turn forces manually using the joystick, which requires fast reaction time (e.g. when the castor wheels turn quickly into the driving direction) to avoid collisions.

References

  1. Bonsor, K. (2004). How the Toyota PM works. Technical report, Toyota Motor Sales, U.S.A., Inc,.
  2. Brearley, M. N. (2009). Investigation of castor-wheel shimmy. Journal of Mechanics and Applied Mathematics, 33(4):491-505.
  3. de Falco, D., Massa, G. D., and Pagano, S. (2009). On the castor dynamic behavior. Journal of The Franklin Institute, to appear.
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Paper Citation


in Harvard Style

Gersdorf B. and Hui S. (2010). A CASTOR WHEEL CONTROLLER FOR DIFFERENTIAL DRIVE WHEELCHAIRS . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 174-179. DOI: 10.5220/0002913101740179


in Bibtex Style

@conference{icinco10,
author={Bernd Gersdorf and Shi Hui},
title={A CASTOR WHEEL CONTROLLER FOR DIFFERENTIAL DRIVE WHEELCHAIRS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={174-179},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002913101740179},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A CASTOR WHEEL CONTROLLER FOR DIFFERENTIAL DRIVE WHEELCHAIRS
SN - 978-989-8425-01-0
AU - Gersdorf B.
AU - Hui S.
PY - 2010
SP - 174
EP - 179
DO - 10.5220/0002913101740179