Stair Climbing Motion Control For Portable Mechanism

Mohamad Hanapi, Nurul Narina (2019) Stair Climbing Motion Control For Portable Mechanism. Project Report. UTeM, Melaka. (Submitted)

Text Stair Climbing Motion Control For Portable Mechanism - Nurul Narina Mohamad Hanapi - 24 Pages.pdf - Submitted Version Download (239kB)

Abstract

A wheel-leg mobile robot has the capability to move on flat surfaces and climb the stairs. In this project, a Delta-Wheel stair climbing robot is a purpose to help elderly and disabled people. This is because elderly and disabled people facing difficulties in performing stairs climbing and moving on flat surfaces in daily activities as normal people. These people have required an assistant to help them to climb the stairs. However, the control system of the stair climbing is not a big problem but to maintain stability and smoothness of the stair climbing robot it will become more challenges The main objectives of this project is to design Fuzzy Logic Controller (FLC) by using MATLAB Toolbox in MATLAB software for stair climbing mechanism. The performance of the FLC will be evaluated in term of obstacle detection and obstacles avoidance. The FLC is design by using two inputs and two outputs. The two inputs are left sensor and right sensor that measure distance of obstacles from the robot. The ouputs are speed movement of left motor and right motor that driven by two DC motors. The Infrared sensor are placed at front corners of the robot. The IR sensors can detect up to 0 cm to 27 cm at 90 degrees. The sensors is required to detect the obstacles and it activates the controller to avoid the obstacles. If the robot able to avoid the obstacles, the system will read another sensor input for next process. Based on this signal, the FLC control the speed of the left motor and right motor respectively. The robot able to moving forward with fast speed of left motor and right motor when sensor not detected the obstacle at front of the robot. As the results, the robot able to move forward and reverse but fail to make a turn because the structure of the tires.

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