Developing an algorithm for measurement of tilt angle for the base frame of a robot that transports patients through building stairs

Abstract

This paper presents a solution and algorithm for applying the Kalman filter algorithm to combine microelectromechanical measuring tools to determine the theoretical parameters of the basic frame in the structure of a human transport robot with people with mobility problems forth through the building's stairs. These parameters are the basis for forming an algorithm to automatically control the electric motors used in the seat posture control system and the robot's moving chain mechanism.