Abstract
This paper presents the method of motion control for welfare mobile robot to realize traveling support of wheelchair user. The proposed welfare robot has both grasping function and mobile function. It is shown that by using active caster opposed dual-wheel as transportation device, wheelchair can move at arbitrary rotational radius and translatory velocity in keeping only grasping force control without positioning control by arms.
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Schedule a callMore From: The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM
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