Traction force improvement of a two wheel mobile manipulator by changing the centre of gravity

In this paper, a traction control method for a two wheel mobile robot is presented. Traction force acting on a wheel is dependent upon the dynamic frictional coefficient and the reaction force acting on each wheel, it is proposed to obtain the maximum traction force by selecting the best value for slip percentage as well as selecting a suitable value for the reaction force. Reaction force variation is achieved by changing the centre of gravity (COG) of the mobile robot. Two electric motors are used to drive the two wheel manipulator.