DIY self balancing robot

hardware: arduino mega + gyro + accelerator sensor + a couple motor
software: kalman filter + PD control
it works like hell when I replaced the lowpass+highpass filter by Kalman filter.

Category:

People & Blogs

Tags:

• Self
• balancing
• robot

[zoomoneone]

what kind of motor do you use? I did one,but not so good . I think the motor i use is not appropriate...

[toannguyen86]

@zoomoneone they were low cost commercial motors with plastic gears. Actually, I did not satisfy with its response, I am not sure the low response when changing direction comes from motors or the driver board. But I am not recommend these hardware.

One solution that you should try: increase the wheels diameter like this robot (/watch?v=xGWqQfbQ24o&feature=­related)

[zoomoneone]

@toannguyen86 (/watch?v=xGWqQfbQ24o&feature=­­related) what is this? a URL?

[toannguyen86]

@zoomoneone add youtube.com before, (youtube does not allow ULR on comments)

[toannguyen86]

@hugeride: Acell is very noise, you can not use it directly that why's we have to use 2 sensors in one technology called "sensors fusion"

[toannguyen86]

@Kas262 and jrwfhbbs : I got the code for Kalman filter from the arduino site, so I think it's not necessary to post my code on it. I just write it in C language , but I think it's the same.

Your robot 's cool , it's more stable than mine, you have done a good job.

[ThePhotomusic]

the way it reacts to being acted on, it kinda reminds me of the little lamp at the start of pixar movies

[hugeride]

Do you really need a gyro? Acell is not enough?

thanks

[jr1wfhbbs]

It is very good. I made same balancing robot this month too. How to write kalman filter by micon software? I show my robot in this youtube too.