21621 2自由度制御による一本レール型いす式階段昇降機の姿勢制御系設計(運動制御とセンシング,OS.1 実システムのモデリングと制御)

抄録

As a welfare equipment, a seated stairlift is used to go up and down stairs in the home. Recently, the seated stairlift with single rail has been developed to reduce the production cost and the construction time. However, it is necessary to control the seating face in real-time by using an actuator. In this paper, we apply a two-degrees-of-freedom control scheme to improve the control performance. The effectiveness is shown by experiment.