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Self Balanced Robot

August 2016 - May 2017,  A real-world examples that relates directly to this balancing robot are controls of humanoid robots, rockets and missiles .

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​it's two-wheeled robot so it cannot stay balanced on its own. It will simply fall over.
Then how do we balance it? We need to know the direction in which the robot is falling, how much the robot has tilted and the speed with which it is falling, then
We combine all these inputs and generate a signal which drives its wheels in the direction in which it is falling and keeps the robot balanced.

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turning theories into practice with environment considerations, the robot mathematical model done by hand calculations depend on mechanics and control theory concepts . then PID controller designed with C code algorithm and Matlab.

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Specifications:​​

  • Material : 4 mm  balsa wood cut by CNC laser cutting

  • Mechanical Cad software : 3d model on Solidworks 

  • Actuators : 12 v dc motors with 6A/12V motor drivers 

  • Electrical Cad software : proteus 

  • Programming Software : Matlab, Arduino IDE 

  • Controlled by : Autonomous

  • Controller : C code algorithm on Arduino Uno

  • Sensors : MPU6050

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