A Case Study on the Kinematics Analysis of a Self-Stabilizing Dual-Wheeled Mobile Robot

A wheeled mobile robot with two wheels that maintains its balance is a distinct variant. It operates based on the inverted pendulum balancing principle. Although self-balancing robots have been proven to be a popular topic and there have been many studies, it represents a system that is both underactuated, characterized by multiple variables, nonlinear, and inherently unstable. The content of this article presents a kinematic analysis of the self-stabilizing dual-wheeled mobile robot. Specifically, the robot’s motion characteristics are determined using the velocity analysis technique. The robot’s velocity analysis is divided into two parts, including the robot’s body and wheels. Based on the kinematic calculations of this robot, the design, modeling, simulation, and construction of the robot system are carried out. The self-stabilizing dual-wheeled mobile robot model is described in Matlab/Simulink using the Multibody library in Simcape of Simulink. Then, the robotic prototype undergoes evaluation using a PID control scheme. The outcomes from actual robotic trials demonstrate that the model exhibits effective responses to maintaining balance both while stationary and in motion.