| The purpose of this Ph. D degree is the control of a robotic wheelchair prototype with new capacities for handicapped persons, in such a way that they improve their autonomy and will simplify the work of the person-in-charge to take care of patients in residences and hospitals. Its development supposes an original advancement in the existent technology for auto-locomotion of the people with a high level handicap; allow overpassing the architectural barriers. The author is concentrated on the development of a kinematics model, a calibration model and a trajectory generator based on complex representation which uses the additional degrees of freedom of the wheelchair prototype to obtain a higher passenger comfort. Finally, a control algorithm based on sliding modes and sensorial information is used to improve the dynamic adaptation of a wheelchair prototype. |
