Mechatronic Stabilization System for Wheelchair Seat

Abstract

The control system developed using the methods of the automatic control theory makes it possible to stabilize the needed position when entering and exiting from an inclined surface, as well as when driving along horizontal and inclined surfaces. The originality of the proposed algorithm lies in the feedback by registering and analyzing the distance to the movement surface in front of and behind the system, which makes it possible to obtain a more objective picture of the surrounding environment and ensure the possibility of accurate vertical movement of the platform (body) of the robot. A test bench for a full-size stabilization system has been developed for testing control in various modes of motion.