A New Stabilization Algorithm for a Two-Wheeled Mobile Robot Aided by Reaction Wheel

The concept of two-wheeled mobile manipulator (TWMM) has been proposed for its sig-nificant advantage due to high maneuverability particularly in confined internal spaces.However, its unbalanced structure imposes restrictions for widespread application. Notethat the nonholonomic property of a TWMM makes its control a more challenging task.In this paper, a new stabilization mechanism of TWMM is presented, and a new controlmethod based on dynamical balancing algorithm is proposed that could effectivelyresolve those restrictions. To this end, a reaction wheel is considered to control the posi-tion of center of gravity (COG), leading to a smoother motion of the robot manipulator.To make the robot be able to manipulate an object, a double inverted pendulum model(DIPM) is considered as a simplified model of the system. DIPM dynamics is used toidentify and simplify the dynamics of TWMM and subsequently a supervisory control isemployed to stabilize the robot via its COG position. This in turn improves the robustnessof the proposed algorithm during manipulation maneuver of an object with unknownmass parameters. Results are compared to those of an ideal model-based algorithm thatreveal the merits of the proposed control strategy. [DOI: 10.1115/1.4027852]Keywords: TWMM, supervisory control, reaction wheel, double inverted pendulum,stability

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