Abstract
When a two-wheeled self-balancing robotic vehicle moves, the rider’s unexpected movement or the posture variation of the integrated mobile manipulator may work as a significant disturbance to the postural stability of the inverted pendulum due to the change of the overall COG (Center of Gravity). In this study, we developed a method to estimate the variation of COG in real time and compensate for the eccentric effect to the posture control system by using load cells. For the lateral eccentricity, the load cells can detect the difference between the normal reactions acting on the two wheels and a proper compensation torque proportional to the difference can be applied. For the longitudinal eccentricity, an equilibrium pitch angle is generated as the reference input to the pitch control loop to keep the robot at its static equilibrium point. The experimental results proved that the posture control performance of a self-balancing robot could be considerably improved by applying the real-time eccentricity compensation technique.
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