25-06-2012, 01:39 PM
MODELLING, SIMULATION AND ANALYSIS OF AUTONOMOUS HOLONOMIC WHEEL CHAIR
MODELLING,SIMULATION AND ANALYSIS OF HOLONOMIC WHEEL CHAIR.ppt (Size: 1.5 MB / Downloads: 50)
INTRODUCTION
Holonomicity refers to the relationship between the controllable degrees of freedom and total degree of freedom for a given robot.
If the controllable degrees of freedom are greater than or equal to the total degrees of freedom then the robot is said to be holonomic.
The holonomic form of locomotion allows vehicles to Immediately move in any direction without need for turn.
The holonomic wheel chair could perform translation and rotation simultaneously
For this purpose the wheel chair needs special type of driving wheels.
Omni-directional wheels of three or more of such wheels can be used.
These special type of driving wheels allow the wheel chair to move in any direction.
There is no need of starts and stops to change the direction of motion of the wheel chair.