A study on methods for improving the straightness of the intelligent walker to move on slope

Won-Young Lee, Seung-Hyun Lee, Mun-Suck Jang, Eung-Hyuk Lee
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引用次数: 2

Abstract

This paper suggests linearity enhancement algorithm for slope driving of Intelligent Walker. Intelligent Walker happens to get off track due to external forces from robot's weight and the degree of the slope while slope driving. In order to compensate this, this research used the controller that estimates the external forces according to the slope of road surface and adjusts it to the motor output. Also, through comparisons between targeted rotational angular velocity which the user inputs and its velocity of the robot, algorithm was applied which applies a weight to each shaft. As a result of applying the proposed correction controller to Intelligent Walker, it diverges in case of non-compensation experiments that deviates when moving, but it case of applying the ramp calibration algorithm, the deviation distance at max was within 5cm that it keeps safe driving, and change rate of deviation distance was also stabilized after 1m where no more changes occurred.
提高智能助行器斜坡行走直线度的方法研究
提出了一种用于智能步行车斜坡行驶的线性增强算法。智能步行者在斜坡行驶过程中,由于机器人自身的重量和坡度等外力作用,极易发生偏离轨道的情况。为了弥补这一点,本研究使用了根据路面坡度估计外力并根据电机输出进行调整的控制器。同时,通过用户输入的目标旋转角速度与机器人的目标旋转角速度的比较,应用了对每个轴施加权重的算法。将所提出的校正控制器应用到智能步行者身上,在无补偿实验时出现偏离,在移动时出现偏离,而应用坡道校正算法时,最大偏离距离在5cm以内,保证安全行驶,且偏离距离变化率在1m后保持稳定,不再发生变化。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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