Inverted Pendulum Balancing Robot Montage

Inverted pendulum robot working with velocity feedback from motor encoders. The robot senses it's orientation from a rate gyroscope and a dual axis accelerometer, combined using a Kalman filter. The angle and velocity are held using PID controllers. The radio commands are sent over a BlueSMiRF bluetooth serial interface from www.sparkfun.com.

Please read http://justinm.com/457/inverted-pendulum-balancing-robot before asking for further info.

Category:

Howto & Style

Tags:

• balancing
• robot
• balancer
• robotics
• segway
• inverted
• pendulum
• rc
• radio
• controlled
• bluetooth

[NicktotheT]

nice work! What micocontroller did you use?

[justinm]

At the end of the video all of the parts are listed. It's an STR711 ARM7. It's Overkill, but I had the dev board.

[simoxina]

Justin what motor did U exactly used?

[justinm]

They are 24V Pittman DC gear motors, 19.1:1 gearing ratio, with encoders on the motors. I bought them from a colleague, so I don't have a source on them. I believe the part number is GM9236S021.

[filosofyphreak]

why not use 4 wheels??

[justinm]

I guess that kind of takes the fun out of it.

[derek0456]

Congratulations guys, that is really impressive. Check out my two dimensional inverted pendulum which balances on a sphere instead of two wheels by searching "tipsy 3 robot."

[ALECEMA]

HELLO FRIEND I WOULD LIKE TO LEARN TO MAKE THIS ROBOT I AM FROM MEXICO ILIVE IN A LITLE TOWN OF MEXICO, CAN YOU SHOW ME PLEASE? I AM STUDING ELECTRONIC ON MY SCHOOL MY E MAIL IS pokt_ups@hotmail.com

[superjoystick]

give the video thumbs down if you wanted him to hit the ramp

[11Cicca]

what program did you use to control?

[seanpaul320aaa]

what the cost this machine ? how many kgs can handle?

could you explain the parts need I ll Buy here in Japan and try do one thanks

dayasyougo56@yahoo.co.jp

[speeddemon370]

Really smooth, you can't even see it correcting. Looks like some really pro work. Inspiring to a novice like myself. Thanks.

[bobcook28]

Wow, very cool!!

Are you at Caltec or is this your job?

[eddysnow]

Hi

you have this motor: GM9236S021

what do You tink waht is the minimal Toruqe requierd to contruction like yours?

nice work!

[edu40000]

Fantastic!! I'm trying to do something like that, I don't know why do you need motor encoders. What do you use them for??

In the PID control you need the angle (sending the gyro and the acceleremeter data to the kalman filter you got it). And then what do I have to do? Can you draw a diagram for me, so I could see the closed loop from the PID.

Thanks!

[vbrazen]

@justinm Did you need to find out the motor constants Km & Ke? How did you determine them precisely?

[Doublehp]

@filosofyphreak Why don't you walk on your hands ? why do you stand "up" ?