self balancing robot

It is a self balance two wheel robot base on inverted pendulum model. Value from gyroscope and accelerometer used as input of the kalman filter to obtain the dynamic incline angle of the robot. PID controller used to derive the motor speed to balance it.

Category:

Science & Technology

Tags:

• inverted
• pendulum
• kalman
• filter
• robot
• cuhk

[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.

[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.

[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.

[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

[alquiora]

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

[alquiora]

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

[OurTroopsRule]

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

[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

[skierplaterandy]

noes not a ramp XD

[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)