Study of trajectory deviation of a semi-autonomous wheelchair based on the integration of Simulink® with CoppeliaSim ® software

The work aims to develop an interface between the Matlab/Simulink® and CoppeliaSim® software to study a differential electric drive system applied to robotics wheelchair. Through the Simulink® the entire electric drive process is carried out, using a permanent magnet machine controlled by a three- phase converter with digital controller. All the mechanical modeling of the system, such as the physical structure of the wheelchair, bearing on the wheels, tire pressure and friction with the different types of soil, is carried out through CoppeliaSim ®. So that the two softwares can be synchronized, all the simulation process is done in real time, where a specialized block was developed capable of sending speed and torque signals to the vehicle's wheels and receiving signals of the efforts applied to the motor shaft, from angular speed measurement on the wheels, simulating an encoder, and the position in relation to the global frame of the motorized wheelchair. This interface aims to evaluate the effects of physical imbalances, such as center of mass displacement, different friction on the wheels, among others, on the path deviation suffered by the wheelchair.