前輪駆動車いすの安定性の理論的解析に基づく制御性向上に関する研究

抄録

In this study, we evaluated the effect of the parameter of interest on the dynamic characteristics of the electric wheelchair thorough the automatic running experiment excluding the influence of human maneuvering and the mathematical stability analysis with the aim of investigating the cause of the low straightness of the front-drive electric wheelchair. Furthermore, from the experimental results, it was clarified that it is possible to effectively improve the straightness of the front-wheel drive wheelchair by using a control method that cancels the influence of centrifugal force.