self balancing robot

[alquiora]

Why did you use separate sensors instead of using just one IMU?

[OurTroopsRule]

Is this comparable to a Segway or since the balance point is above the wheel centerline is it completely different?

[skierplaterandy]

noes not a ramp XD

[Lucianojfjr]

Amazing job! How long have you worked for this project to be ready?

I'm working on a similar project, if you can help me I'd be really grateful.

What type of engine you used?

Thanks anyway.

[kelvinkoko]

@Lucianojfjr

It built by a LPC2131 controller, modified s3003 servo,

Murata ENC gyro and ADXL accelerometer.

[tjamassey]

You need a little bit more phase advance, it's oscillating a little before settling.

[m23402027]

can you lead me something, what is complementary filter really are?

[kelvinkoko]

@m23402027

I sent a message about the complementary filter to your youtube account

you can read the detail there.

[evilBunny81]

@m23402027

care to share that with me aswell? nice work i must say!

[DrewzGuard]

@kelvinkoko

may you please send its to me.. I am crazy for a week...

my project is about the balance filter (included kalman filter)

[ndinadis]

@kelvinkoko

Can you forward me this message as well, I am starting a similar project and just took c course in DSP but do not yet understand how to implement this. It seems much better then the traditional Kalman Filter

[alquiora]

@kelvinkoko Please send me some info about complementary filter too. Thank you.

[broncocv]

@kelvinkoko Hello!! please, can you give me some info too? Your work is so inspirational for me. If you can message me and explain me , just like a brief view, what was the explicit use of the filter in the project?

Thanks in advance!! greetings from Peru

[paucarre]

I'm trying to build a self balanced robot like this. The problem I have is that I am not sure that the H bridge is giving an accurate velocity control. This is why I should use a rotation rate controller with a sensor. I do not want to spend a lot of money so an expensive industrial quality encoder is not a solution for me. Do you know if it is possible to use a potentiomenter as sensor?

[chewieblanco]

like everything made in china.... CHEAP.... instead of using motors and balancers to not only create stability but also to create propultion he used RC servos only to stabilize what he called robot!!! LOL but hey lets keep on pouring our money on that half ass country.

[scolen3]

@chewieblanco Someone is having a shitty day, aren't you?

[ricande]

Looks like you have gone about it the wrong way.. You just want it to stand still... Not to stand upright... Hense the forward tilting on the slope. But great work. No way i ever would make it better. :)

[kelvinkoko]

Yes!~ It is aim at stand still instead of upright because the measurement of sensor is relative to the gravity instead of the slope of the ground. It just like human lean forward while climbing uphill to keep the balance.

[knabbers]

hey mate excellent work! i was wondering if you used h-bridges to control the different directions of the motor? And also, how did you find out how to use the kalman filter for this - i'm making something very similar :P thank you, please reply :)

[kelvinkoko]

I used a modified futaba 3003 servo as a motors, so i control it by generate PWM directly. The h bridge is inside the servo circuit : )

If you search for inverted pendulum and kalman filter, there are dozen of result about how to use it.

[john1966elliott]

Wow, You are smartasre, you are 100%.

[AcesofRebellion]

hye..

im not quiet understand about kalman filter.. read a lot but dont get i gist of it..

any help?

[immuki]

i want to punt it...

[pranavtrehun007]

good project. the filtering really improved the performance.

i think u are using regular PID for the motor control. try gain scheduled PID. if you do, ill really appreciate if you'd let me know how it went.

[Jonathanstrawberry20]

this is baddass!!!

[gayatrikumarutube]

I seems like that, the steps in the tyres are hapering smooth control. Or It seems that there is some backlash in the motors (Geared one? ) controller looses its control in that small period after that it will attempt to deal with large error which causes overshoots and hence shaky motion during balancing the robo.

[pushprajchauhan]

hello kelvinkoko very intersting robot. great work, i want to try my hand on it. will it be possible that i can get a overview of how the things work. i have experience with pic, nuvuton and sonix

thanks

[meepa123]

did you try accelerometer+kalman?

[kelvinkoko]

no, in my case , what i lack of instant response. The accelerometer cannot give high frequency value. Kalman filter give me a smooth value.

[chentediazs]

Good work!

[larryjuju]

magic

[wallaguest1]

w0w outstanding ^;^

[mancio92M]

Great work!

Which microprocessor work? And Is it possible view the code?

[kelvinkoko]

This project base on LPC2131 MCU.

Free feel to send a email to me to have further discussion on the code