Department of Electronic Engineering and Communications, University of Zaragoza, 44003 Teruel, Spain.
Departamento de Eléctrica y Electrónica, Universidad de las Fuerzas Armadas-ESPE, Sangolquí 171103, Ecuador.
Sensors (Basel). 2021 Apr 27;21(9):3057. doi: 10.3390/s21093057.
Technological advances in recent years have shown interest in the development of robots in the medical field. The integration of robotic systems in areas of assistance and rehabilitation improves the user's quality of life. In this context, this article presents a proposal for the unified control of a robotic standing wheelchair. Considering primary and secondary tasks as control objectives, the system performs tasks autonomously and the change of position and orientation can be performed at any time. The development of the control scheme was divided in two parts: (i) kinematic controller to solve the desired motion problem; and (ii) dynamic compensation of the standing wheelchair-human system. The design of the two controllers considers the theory of linear algebra, proposing a low computational cost and an asymptotically stable algorithm, without disturbances. The stability and robustness analysis of the system is performed by analyzing the evolution of the control errors in each sampling period. Finally, real experiments of the performance of the developed controller are performed using a built and instrumented standing wheelchair.
近年来，技术的进步引起了人们对医疗领域机器人开发的兴趣。机器人系统在辅助和康复领域的集成提高了用户的生活质量。在这种情况下，本文提出了一种用于统一控制机器人站立轮椅的方案。该系统将主要和次要任务作为控制目标，能够自主执行任务，并且可以随时改变位置和方向。控制方案的开发分为两部分：（i）运动学控制器，用于解决期望运动问题；（ii）站立轮椅-人体系统的动态补偿。两个控制器的设计都考虑了线性代数理论，提出了一种低计算成本和渐近稳定的算法，在没有干扰的情况下。通过分析每个采样周期内控制误差的演变，对系统的稳定性和鲁棒性进行了分析。最后，使用建造和装备的站立轮椅进行了开发的控制器性能的实际实验。
