Resumo do Trabalho

This paper describes the kinematic control of the attitude of a robotic wheelchair on uneven terrain. The developed system is capable of overcome uneven terrain. A checklist of problemsbarriers in various surfaces is analyzed. The proposed robotic system is based on parallel cooperative multi-manipulator architecture. This architecture allows to horizontally stabilize the robotic wheelchair, even at irregular surfacesterrains. In order to control the attitude of the robotic wheelchair, a kinematic model of the proposed system is developed.