Two wheeled self balancing robot

A better video is here .. http://www.youtube.com/watch?v=H1YbONbaoRg
This is my first attempt to put together my hardware and software skills in electronics to build something from scratch. All components have been purchased from S.P Road Bangalore i.e motors, chassis, micro-controller, gyroscopes..you name them and they are all available there.

Started this activity ~ 4 months back and have reached this stage after burning few micro controller boards and sensors.

Finally got it to balance on a smooth surface. This has been the biggest challenge so far. The tolerance is less than +/- 0.5 degrees. Have not used kalman's filter yet for angle measurement. The angle measurement is only using LISY300AL analog gyro with some home grown error correcting mechanisms. Still need to control the vibrations. Using a 500rpm dc motor that has a base speed of ~ 2500rpm (not sure). Have no other accurate feedback mechanism for motor control like in a stepper/servo. Each of the two motors are 12v dc motors. The micro controller arduino is great. Though the resolution of the gyro is 3.3mV/deg/sec the 10 bit ADC of arduino is sufficient. have added a battery much bigger in weight than necessary to get the balancing algorithm tuned for the worst case scenario. The rubber tires too do not have much tread to be able to increase the friction with the smooth marble flooring. The robo sticks on to the floor if placed on a rough carpet due to the friction.

Want to build a segway as my next project.

Category:

Science & Technology

Tags:

• Self
• balancing
• two
• wheeled
• robot
• arduino
• gyroscope
• microcontroller
• inverted
• pendulum

[amehanak]

great one....how u develop that chasis........

what i know....the chasis is chalenging since we need to consider a of of thing