Kinematic analysis of a two-wheeled self-balancing mobile robot

Abstract

This paper describes the development of a two-wheeled self-balancing robot and its kinematic analysis. The system architecture consists of two co-axial wheeled rectangular structure powered by a pair of DC motors. Two separate motor drivers are controlled by pulse width modulated voltage signals received from the Arduino microcontroller board. The attitude determination of the robotic platform can be accomplished by an IMU sensor, which is a combination of accelerometer and rate gyro. After mechanical system design, the velocity decomposition of the two wheels and robot body are analyzed to establish the kinematic model. In this model, local position of the robot is mapped according to the global coordinates. Finally, the kinematic constraints are established for fixed standard wheels of the two-wheeled robot.