Real-time validation of a novel two-wheeled robot with a dynamically moving payload

In real life applications, two-wheeled robots are considered to carry payloads of different sizes and at different positions or motion speeds the vertical axis. Studying the impact of those parameters should be considered in detail in order to account for their impact on the robot stability and the control mechanism. This paper investigates the impact of changing the payload position dynamically; on the system damping characteristics while the robot in its balancing state.