Balancing robot on gravel

[TurkishRapMusic]

can you share plans, shemes and partlist?

[xasdrubalex]

the MMA7260Q was soldered using the deadbug technique or do you have access to some reflow system?

i have some samples from freescale, but i'm worried about ic over heating (iron) and also too long paths from the ic to the MCU using wrap wires (thought it won't be hard to put some ceramic caps on signal lines)

[DANVELVILL]

@xasdrubalex

I used thin wire-wrapping wire, a thin-tip 10w solder and a magnifier. Not too difficult if you don't overheat the pads.

[swapnil17may]

hi

you are great!!!!!!!!

i am also interested in making self balancing robot. i understand the mechanical arrangement of the component but should i get the electronics PCB design and code because i am not familiar with this.

[tachionic]

Congrats, The best balancing robo, I have ever seen. Would you mind providing more details about motor, and wheel used. MD-01 is not to be seen in robot-electronics. Is the motor EMG-30 ? and what is the model number of the wheels and from where ?

Thanks

[DANVELVILL]

@tachionic Look under "drive systems" in that same webpage. Now it's called RD02.

[tachionic]

@DANVELVILL Thanks, A few more questions :)

1) Are you also using the MD5 motor controller (PID based, for position and speed control) of RD-02 or are you only using the motor ? My question is, about having any advantage in using this MD5 controller in a balancing robot like your's which balances so nice.

2) Your wheel too look nice, where can I get it. ?

3) If I were to use some MEMS gyro from ADI or ST, what would be the spec suggested by you. ?

4) gyro/acc ADC precision ?? 8/10/12 ??

[DANVELVILL]

@tachionic The RD-02 includes a MD25 motor driver that works fine.

You can also use the standard wheels supplied with RD-02. I got larger wheels from a local shop for baby carriage replacements.

Use gyros with max rate 300º/s.

I use 11 bit ADC.

[tachionic]

@DANVELVILL Thanks a lot.

I am planning to go about with the two PID loops you mentioned in some reply. Hope that I could ask for help when I am stuck, as I am a bit new to control.

[tachionic]

@DANVELVILL Thanks a lot.

I am planning to go about with the two PID loops you mentioned in some reply.

What is the ideal location and orientation of the gyro and Acc within the robot ? (also why should it be so ??) It seem like gyro is best near axis of rotation and Acc far from axis of rotation. Could throw more light ?

Hope that I could ask for help when I am stuck, as I am a bit new to control.

[Markiyan2010]

plees give a cheme

[TheAronsky]

May i ask you: what the kinds of accelerometer and gyroscope you used?

[DANVELVILL]

@TheAronsky

Acelerometer : MMA7260Q (Freescale Semiconductor)

Gyro: ripped from helicopter piezo gyro (GWS-PG-03).

MCU: CY8C27143 (Cypress semiconductors)

motors/wheels:

MD-01 from robot-electronics

[ercost60]

Amazing stability on gravel! Congrats, very nice robot.

[beautifulsmall]

very smooth, very small,, onto stage 2 does it know where it is and where things are.

whats the cpu?

[DANVELVILL]

@beautifulsmall

No, it does not have navigation sensors for the moment; it is radio controlled.

Cpu= cypress PSOC.

[beautifulsmall]

very smooth, very small,, onto stage 2 does it know where it is and where things are

[malakovich69]

you use a piece of fishing line.

[Ryuuken24]

Its very cool, especially when you can't see the wire !

[smclane6]

Nice! Very stable. How can I learn more on how you did it? How are you controling it. I plan to build something similar.

[DANVELVILL]

Yes, I use wheel encoders, gyroscope and accelerometer.

[Robido1]

Cool! I like its ability to handle gravel. Do you use wheel encoders?

[Robido1]

Very good robot! I like its ability to handle gravel. Do you use wheel encoders?