| Title |
A Study on the Direct Drive Calibration Techniques of Power Assist Modules to Assist the Lift of Manual Wheelchairs Stairs |
| Authors |
정지안(Ji-an Jung) ; 황현창(Hyun-chang Hwang) ; 이원영(Won-young Lee) ; 이응혁(Eung-Hyuck Lee) |
| DOI |
https://doi.org/10.5573/ieie.2019.56.12.134 |
| Abstract |
In this paper, we propose the Yaw angle estimatiopn technique using the Roll and Pitch angles and directness alignment controller using the Yaw angle. To evaluate the performance of the proposed alignment control technique, the experimental environment was constructed by considering the external force situation at the real stair level. Through the experiment, Yaw was applied to each estimation technique and directness alignment controller. The experimental results showed that the calibration time of 0.7 seconds was taken at the Yaw angle of 11° to verify the performance of the Yaw respective estimation technique and the directness alignment controller |