簡易電動車いす駆動走行のための差動駆動アクティブキャスタの操舵軸制御

抄録

Active casters are omnidirectional wheels that has driving axis for caster wheels and steering axis. They can move in all directions by coordinated control of the steering axis and driving axis. However, the steering axis was not stable when controlled using the kinematics of the active caster. The reason for this is that the conventional control method did not take into account the time delay caused by dynamics. Therefore, we devised a method to compensate for the time delay. This method uses the analytical solution of the nonlinear differential equation of the steering axis in kinematics. As a result of experiments using this method, the stability of the steering axis and the maximum speed when going straight were improved.