CONCEPTUAL DESIGN OF AUTONOMOUS CART FOLLOWER FOR WHEELCHAIR USER

  • A. A. M. Zahir School of Electrical and Electronic Engineering, Universiti Sains Malaysia, Pulau Pinang, Malaysia
  • Wan Amir Fuad Wajdi Othman School of Electrical and Electronic Engineering, Universiti Sains Malaysia, Pulau Pinang, Malaysia
  • S.S.N. Alhady School of Electrical and Electronic Engineering, Universiti Sains Malaysia, Pulau Pinang, Malaysia
  • A. A. A. Wahab School of Electrical and Electronic Engineering, Universiti Sains Malaysia, Pulau Pinang, Malaysia
  • M. F. Ahmad School of Electrical and Electronic Engineering, Universiti Sains Malaysia, Pulau Pinang, Malaysia

Abstract

This paper focuses on kinematics of the cart follower and the system identification of propulsion system by using brushed DC motor. The cart follower uses Ackermann configuration as the steering system. The modeling of kinematics equation takes into account the instantaneous center of rotation (ICR), velocity of each tire, heading angle, and simple movement of the cart. The cart is propelled by transaxle brushed DC motor. It is important to approximate an accurate transfer function to represent the motor as the plant module is unavailable. The motor is simulated by using Arduino hardware package in MATLAB®. Rotary encoder is used to record the angular velocity of the shaft. MATLAB® code is created in order to calculate the linear velocity and tabulate the datasets. System Identification Toolbox determines the transfer function of the motor and its performance. The variables measured in experiment to identify the transfer function of the DC motor system are output angular velocity and input voltage. The parameters taken from the DC motor’s mathematical model are derived based on existing literatures. The graph of output velocity against time is plotted and the transfer function is estimated by using System Identification Toolbox in MATLAB®. From the results, it is demonstrated that the motor exhibits second order system.


Keywords: Cart follower, wheel mobile robot, kinematics, system identification

Published
2020-02-28
How to Cite
ZAHIR, A. A. M. et al. CONCEPTUAL DESIGN OF AUTONOMOUS CART FOLLOWER FOR WHEELCHAIR USER. Platform : A Journal of Engineering, [S.l.], v. 4, n. 1, p. 2-11, feb. 2020. ISSN 2636-9877. Available at: <http://myjms.moe.gov.my/index.php/paje/article/view/5088>. Date accessed: 21 sep. 2020.