Balance Control of a Variable Centroid Inverted Pendulum Robot

A basic problem has been found in two wheels inverted pendulum based mobile manipulator. It is difficult to keep balance as the manipulator operates and it is necessary to find a method to resolve it. This research presents a simple and feasible method for this kind of problem. It involves a common PD control and a method to calculate the compensatory angle for a variable centroid inverted pendulum robot. A 4 DOF mobile manipulator based on inverted pendulum has been developed to analyze the problem, and a simulation is also used to certify the method in this research. The experiment and its results show the performance of the method. It is possible to make the robot keep balance by using the compensatory angle even though the position of centroid is time variant.