Design of personal mobility system for assisted agricultural work with self-adjusting center of gravity

A personal mobility system with a self-adjusting center of gravity is designed to aid agricultural work. This can assist elderly and disabled people problems perform simple tasks. Simulations experiments were performed using 2.5-times reduced model the system, feasibility effectiveness proposed verified. With initial position as set value, proportional-integral-derivative control counterweight motion coordinated horizontally two corresponding motors controlled within certain range value. The experimental transition time 10.8 s simulated 10.4 s. error between 3.85 %. results demonstrate that adaptive achieves adjustment gravity.