7/21/2019 931-2-PB

http://slidepdf.com/reader/full/931-2-pb 1/3

International Journal of Robotics and Automation (IJRA)

Vol. 1, No. 4, December 2012, pp. 203~213ISSN: 2089-4856 203

Control of a Stair Climbing Wheelchair

N.M. Abdul Ghani!"! M.#. $o%hi! A.N.& Nasir! S.Ahmad"1Dean Dept. o !"S#, $n%&er'%t( o S)e%el*, $.+ 

2Dept. o ec)atron%c', Internat%onal I'lam%c $n%&er'%t( ala('%a, ,ala('%a

Article Info A'S$RAC$

 Article history:

ece%&e* /l 1, 2012e&%'e* No& 4, 2012!ccepte* No& 15, 2012

 Keyword:

ID controlStableSta%r cl%mb%n$pr%)t

)%' paper pre'ent' %n&e't%at%on' %nto t)e control o a 'ta%r cl%mb%n

)eelc)a%r part%c/larl( or %n*oor /'ae. ! &%rt/al )eelc)a%r mo*el %'

*e&elope* /'%n V%'/al Na'tran 'otare an* l%ne* %t) atlabS%m/l%n 

or control p/rpo'e'. )e oal' are to )a&e a '%mple, compact an* 'table

'ta%r' cl%mb%n )eelc)a%r %n or*er to complete t)e a'cen*%n an* *e'cen*%n

ta''. )e c)allene' are to en'/re t)e )eelc)a%r 'eat ala(' 'ta( at t)e/pr%)t po'%t%on an* to control bot) t)e ront an* rear )eel motor' )%le

cl%mb%n. ID control %' /'e* to pro&%*e appropr%ate tor7/e to bot) ront an*rear )eel' a' ell a' at to t)e )eelc)a%r 'eat */r%n cl%mb%n. e'/lt'

')o t)at t)e )eelc)a%r mo&ement can be controlle* 'moot)l( an* t)e 'eat

ma%nta%ne* at t)e *e'%re* po'%t%on %t) t)e a*apte* approac).

)eelc)a%r Copyright © 2012 Institute of Advanced Engineering and Science. All rights r e ser ved.

Corresponding Author:

M. Abdul GhaniDean Dept. o !"S#, $n%&er'%t( o S)e%el*, $.+ 

#ma%l: n iha .ghan i@sheffield. ac.u k 

. IN$R#C$I#N)e /'e o )eelc)a%r )a' become cr/c%al or people %t) 'p%nal cor* %n/r( an* loer *%'ab%l%t( %n

t)e%r loer etrem%t%e'. )e %*e'prea* /'e o &ar%o/' t(pe' o electr%c )eelc)a%r %' c/rrentl( non%ncl/*%n )ol*%n e(e-le&el *%'c/''%on' %t) collea/e' an* ')opp%n b( balanc%n on to )eel', o%n /pan* *on 'teep ramp', tra&er'%n o/t*oor '/race' ;e.., ra'', *%rt tra%l'<, cl%mb%n c/rb' an* 'ta%r' =1>.?oe&er, t)ere are 't%ll l%m%tat%on' or %n*oor p/rpo'e' */e to 'mall an* con%ne* 'pace'.

)ere are man( 't/*%e' con*/cte* %n area' relate* to cl%mb%n robot an* )ence, a n/mber o 'ta%r-

cl%mb%n mec)an%'m' )a&e been *e&elope* or )eelc)a%r. )e'e %ncl/*e craler t(pe, le t(pe, )(br%* t(pean* )eele* t(pe@ a' *e'cr%be* belo.

A. Cra*ler t+,e)e craler t(pe pre'ent' a )%) terra%n a*apt%&%t( an* t)%' %' mo't /'e/l on 'an* an* m/*. )e %r't

commerc%al )eelc)a%r mo*el' capable o cl%mb%n an* *e'cen*%n 'ta%rca'e' ere ba'e* on a '%nle-'ect%ontrac mec)an%'m, calle* Naa'a% Sta%r "l%mber, an* became a&a%lable %n t)e m%* 1990' =2> an* =3>.

Aan et al.=4> cont%n/e* t)e *e&elopment o t)e BNaa'a% Sta%r "l%mberC, to a */el 'ect%ontrace* )eelc)a%r capable o neot%at%n lare n/mber o t%'t%n an* %rre/lar 'ta%r' t(p%call( enco/ntere* b( re'%*ent' l%&%n on t)e 'lope' t)at '/rro/n* Naa'a%, apan.

ecent *e&elopment' %ncl/*e an a/to /%*ance '('tem, a/to le&el%n o t)e c)a%r anle an* act%&econtrol o t)e ront an* rear trac anle. )%' pro&%'%on o B)ar*areC )a' been balance* %t) t)e pro&%'%ono t)e a*m%n%'trat%&e '%*e o ma%n mob%l%t( a''%'tance a&a%lable to t)o'e )o nee* %t an* t)/' o&erallra%'%n t)e 7/al%t( o l%e o el*erl( an* *%'able* per'on' l%&%n on t)e Naa'a% ?%ll'%*e'. /t/re or (et to be *one %ncl/*e' t)e cont%n/e* *e&elopment o t)e control '('tem %t) rear* to %mpro&e* a/tomat%on,'aet( an* eneral rob/'tne''. /rt)er re%nement %' al'o re7/%re* on re*/c%n t)e e%)t o t)e o&erall 'ta%r 

cl%mber.

 Journal homepage h tt p !!i a e s "ou r na l. c o #! on li n e!i nd e $ .p hp !  I%&A

7/21/2019 931-2-PB

http://slidepdf.com/reader/full/931-2-pb 2/3

204  ISSN: 2089-4856

E/n et al. =5> )a&e *e&elope* a tran'm/t%n trac )eelc)a%r )%c) )a' a *(nam%c trac ten'%on

c)aracter%'t%c. )e( )a&e /'e* /FF( lo%c control a' an opt%mal e't%mat%on alor%t)m to e't%mate t)e proport%on o &ar%o/' actor' t)at aect t)e trac ten'%on. rame o t)e )eelc)a%r con'%'t' o %e* ')el,'eat an* trac tran'm/tat%on mec)an%'m %n )%c) t)e ma%n actor' aect%n ten'%on are *eterm%ne* b( /FF(*ec%'%on. ?oe&er, &%brat%on occ/r' )en t)e )eelc)a%r e't/re %' a*/'te*, t)/' anot)er controller nee*' to be *e'%ne* to mae t)e ma%n actor' 'tea*%l( ollo appropr%ate &al/e %n or*er to a&o%* o'c%llat%on.Some *%'a*&antae' o t)e'e craler '('tem' are t)at t)e ent%re trac %' orce* to rotate on t)e e*e o t)e

%r't 'tep )en %n%t%at%n a *e'cent an* lo locomot%on e%c%enc( %n barr%er ree en&%ronment' =6>.

'. -eg t+,eS/a)ara et al. => *e'cr%be* t)e mean' o t/n%n-/p met)o* o al%n parameter' or a b%pe*

robot %t) le mec)an%'m' /'%n Steart latorm' %t) t)e r%'e o 250 mm an* certa%n al%neper%ment' or a'cen*%n an* *e'cen*%n 'ta%r' carr(%n a )/man. )e 'troe rane /'e* co/l* be re*/ce* b( t/n%n /p t)ea%'t (a an* pre'et Fero moment po%nt ;G< traector%e' or mot%on pattern enerat%on. )ro/) certa%n'%m/lat%on', %t a' al'o con%rme* t)at t)e ma%m/m r%'e o t)e 'ta%r t)at A-16II co/l* tra&er'e a'

250mm.Sol/t%on ba'e* on t)e le t(pe )a&e t)e )%)e't a*apt%&%t( to ro/) terra%n an* can mo&e on 'ta%r' or 

a 'lope %t) 'tab%l%t(, '%nce t)e contact po%nt' %t) t)e ro/n* )ere t)e eet '/pport t)e bo*( can be 'electe*'ael(, b/t t)e'e mec)an%'m' eper%ence certa%n problem' */e to loa* e%)t, ener( e%c%enc( an* 'pee* o mo&ement, an* t)/' are not '/%table a' mean' o pro&%*%n mob%l%t( or t)e el*erl( or t)e *%'able*.=6>.

C. +brid t+,eAan et al.=8> /t%l%Fe* a )(br%* o o/r robot%c le' act/ate* )(*ra/l%call( an* e7/%ppe* %t)

%n*epen*entl( operate* 'teer%n an* *r%&e motor' */r%n 'ta%r cl%mb%n.

orale' et al.=6> *e'%ne* a )(br%* to *eco/ple* )eelc)a%r mec)an%'m' %n eac) ale@ one toneot%ate 'tep' an* t)e ot)er to po'%t%on t)e ale %t) rear* to t)e c)a%r %n or*er to accommo*ate t)e o&erall'lope. +%nemat%c mo*el an* traector( planner ere /t%l%Fe* to %mpro&e t)e traector( plann%n on complenotat%on. )%' )a' prom%'e* )%) percentae o t%me re*/ct%on %n t)e cl%mb%n *e'cent proce'' b( /'%nopt%m%Fe* traector( planner alor%t)m ;Sl%*%n mo*e control<. ?oe&er, t)%' met)o* re7/%re' morecompl%cate* 'tab%l%Fat%on proce'' an* %ncrea'e* poer con'/mpt%on beca/'e )%) comp/tat%on re'o/rce' are

/'e* %n t)e control alor%t)m'.Eo/n et al.=9> pre'ente* a *eree o ree*om to-le' 'ta%r cl%mb%n )eelc)a%r %t) la'er 

*%'tance 'en'or' to mea'/re t)e )e%)t' an* %*t)' o t)e 'ta%r' an* )eelc)a%r *%rect%on error. )e propo'e*)eelc)a%r can cl%mb 'teep 'ta%r' ;more t)an 30 *eree' 'lope<, )%le ma%nta%n%n t)e 'eat traector('tat%call( 'table at all t%me'. ?oe&er, t)ere %' no 'tab%l%t( control %ncorporate* to en'/re t)e 'tab%l%t( o t)e)eelc)a%r.

. Wheeled t+,eAan et al.=10> *e&elope* ront an* rear )eel cl/'ter' connecte* to t)e ba'e o t)e )eelc)a%r &%a

 poere* l%nae' or )%) '%nle 'tep capab%l%t(. )%' mec)an%'m allo' t)e )eelc)a%r to cl%mb /p an**on t)e 'ta%r' a' ell a' enter *%rectl( %nto an* rom a &an. ! m%n%m/m control '('tem ba'e* on to '%nlec)%p comp/ter' an* " 'er&o $H an* " 'er&o controller' )a&e been embe**e* to operate t)e mo*el.?oe&er t)%' met)o* re7/%re* too comple 'tr/ct/re %t) e%)t )eel' mo/nte* at t)e ba'e o t)e)eelc)a%r an* ma( be perce%&e* a' a l%ttle too robot%c, t)/' not '/%table or %n*oor p/rpo'e'.

/al%a et al.=11> %ntro*/ce* mec)an%cal concept or a 'ta%r cl%mb%n mec)an%'m )%c)

%ncorporate* a o/r-bar l%nae %t) tel&e )eel' on bot) r%)t an* let '%*e' t)at can enerate a relat%&emot%on beteen t)e rame an* t)e 'eat. o /nct%on%n mo*e' o operat%on ere /'e* or eac) locomot%on/n%t rom roll%n on )eel' to 'tepp%n on le' %t)o/t an( comman*, b/t onl( ba'e* on '/race an**(nam%c con*%t%on'. ?oe&er, t)%' con%/rat%on %&e' /n'table con*%t%on at t)e m%**le o t)e 'ta%r' an*re7/%re' a lot o ener( */r%n 'teer%n operat%on beca/'e o t)e local '%**%n beteen )eel' an* ro/n*.

S/a)ara et al.=12> propo'e* tran'ormable )eele* o/r-bar l%nae', )%c) can tran'orm rom

 paralleloram mo*e to 'tra%)t an* *ole mo*e, or to J-1 at'/')%ma to complete t)e a'cen*%n an**e'cen*%n 'ta%r cl%mb%n ta'. )%' met)o* en'/re' a loer ro/n* contact pre''/re an* %*e '/pport pol(on t)an %JK beca/'e all t)e o/r )eel' are %n contact %t) t)e trea*' at all t%me'. ?oe&er, t)e'tab%l%t( control an* 'en'%n met)o* or mot%on plann%n )a&e not been 't/*%e* an* t)e'e are /'t ba'e* on

t)e %n&er'e %nemat%c *er%&at%on an* man/all( 'ett%n o o%nt anle tran'%t%on to tra&er'e 'ta%r'.er/a% I =13> *e'%ne* a 'ol%* mo*el or 'el-propelle* 'ta%r cl%mb%n )eelc)a%r /'%n "omp/ter !%*e* De'%n 'otare tool to &al%*ate t)e ea'%b%l%t( o t)e approac). )e or )a' oc/' on t)e proce''-or%ente* approac) onl( to )elp t)e /'er to ac)%e&e oal /'%n %nten'%&e '%m/lat%on-ba'e* 't/*(. ?oe&er, no

I! Vol. 1, No. 4, December 2012 : 203 L 213

7/21/2019 931-2-PB

http://slidepdf.com/reader/full/931-2-pb 3/3

 I! ISSN: 2088-808 213

 p)('%cal mo*el%n )a' been /'e* to &al%*ate t)e '%m/lat%on a' ell a' t)e 'aet( mea'/re' an* no controlalor%t)m %mplemente*.

")/n-a et al.=14> reporte* on t)e /'ae o rotat%onal m/lt%-l%mbe* 'tr/ct/re', )%c) ere mo/nte* p%&otall( on t)e oppo'%te '%*e' o t)e ba'e. )e a/t)or ma*e /'e o ')ort arm, lon arm an* '/pport tr%anleact/ate* %t) rotat%onal m/lt%-l%mbe* 'tr/ct/re %n or*er to rotate t)ro/) ep%c(cl%c ear tra%n' to en'/re t)e'tab%l%t( o t)e )eelc)a%r. ?oe&er t)e proect )a' not prore''e* to proper control met)o* or 'tab%l%t( p/rpo'e' an* )a' /'e* more motor' an* comple mec)an%'m, )ence %' not '/%table to /'e %n *ome't%cen&%ronment'.