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Abstract-In this article, a new stabilizing mechanism for a two wheel robot is proposed. Such systems, due to inherent ‎instability, require dynamic stabilization. The conventional method for stabilizing these robots is moving the base back ‎and forth, to use its inertia effects. Therefore, such strategies drastically depend on the ground surface, besides the ‎robot is not able to reconfigure its manipulator to do any desired task. These limitations reduce the capability of the ‎robot to manipulate objects, and to perform accurate tasks. In order to omit these restrictions, in the developed ‎mechanism, a reaction wheel is used. The proposed mechanism exploits the inertia moment of reaction wheel to ‎stabilize motion of the robot. Therefore, since there is no interaction between the reaction wheel and the ground surface, ‎by using this mechanism there would be no concern about the surface that the robot moves on that. Also, manipulator ‎of the robot can track the given trajectories, without considering stability limitations. In order to show the performance ‎of proposed mechanism, a verified dynamics model of the robot is used and the control algorithm with various initial ‎conditions is simulated.‎

Keywords: "Two-wheeled Robot", "Non-holonomic constraint", "Under-actuated Joint", "Reaction Wheel"

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