Abstract
The article describes a method of operation of wheelchairs with differential control, as well as elaborates a developed method that allows visualising the wheelchair motion trajectory on the basis of reading of road or linear velocity measured independently on both left and right drive wheel. The Method chapter describes a complete proceeding algorithm, which allows determining the trajectory of wheelchair rear wheel axle’s middle point by using only road value of rear wheels in regular intervals. The Measurement system chapter describes the used set of sensors, type of measured kinematic value, and method of transforming it into unit compliant with the method. The Results chapter shows exemplary values of measured wheelchair velocities and motion trajectory charts determined by transforming them.
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