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Kinematic Analysis of a Two-Wheeled Self-Balancing Mobile Robot

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Proceedings of the International Conference on Signal, Networks, Computing, and Systems

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 396))

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.

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Author information

Authors and Affiliations

  1. Robotics Laboratory, Department of Mechanical Engineering, National Institute of Technology, Rourkela, Sundergarh, 769008, Odisha, India

    Animesh Chhotray, Manas K. Pradhan, Krishna K. Pandey & Dayal R. Parhi

Authors
  1. Animesh Chhotray
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  2. Manas K. Pradhan
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  3. Krishna K. Pandey
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  4. Dayal R. Parhi
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Corresponding author

Correspondence to Animesh Chhotray .

Editor information

Editors and Affiliations

  1. School of Computer & Systems Sciences, Jawaharlal Nehru University, New Delhi, Delhi, India

    Daya K. Lobiyal

  2. Dept. of Computer Science & Engineering, National Institute of Technology , Rourkela, Odisha, India

    Durga Prasad Mohapatra

  3. Department of Computer Science, Liverpool Hope University Faculty of Science, Liverpool, United Kingdom

    Atulya Nagar

  4. National Institute of Technology, Department of Computer Science & EngineeringNational Institute of Technology, Rourkela, Odisha, India

    Manmath N. Sahoo

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© 2016 Springer India

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Chhotray, A., Pradhan, M.K., Pandey, K.K., Parhi, D.R. (2016). Kinematic Analysis of a Two-Wheeled Self-Balancing Mobile Robot. In: Lobiyal, D., Mohapatra, D., Nagar, A., Sahoo, M. (eds) Proceedings of the International Conference on Signal, Networks, Computing, and Systems. Lecture Notes in Electrical Engineering, vol 396. Springer, New Delhi. https://doi.org/10.1007/978-81-322-3589-7_9

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  • DOI: https://doi.org/10.1007/978-81-322-3589-7_9

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  • Publisher Name: Springer, New Delhi

  • Print ISBN: 978-81-322-3587-3

  • Online ISBN: 978-81-322-3589-7

  • eBook Packages: EngineeringEngineering (R0)

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