Two wheel self balancing robot
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The document describes a self-balancing two-wheeled robot project. The goals of the project are to demonstrate techniques for balancing an unstable robotic platform on two wheels and to design a digital control system using a state space model. The robot uses motors, sensors like an accelerometer and gyroscope, and a microprocessor to automatically balance itself in the upright position like an inverted pendulum. It classifies the robot system into three main parts: an inertial sensor unit to read angular velocity and position, an actuator unit with motors driven by analog signals from the controller, and a logical processing unit that processes sensor inputs and controls the actuators to return the robot to vertical position when tilted.
Two wheel self balancing robot
- 1. Self Balancing Two Wheel Robot
- 2. Basic Aim The basic aims of our project are : To demonstrate the methods and techniques involved in balancing an unstable robotic platform on two wheels. To design a complete digital control system with the state space model.
- 3. Abstract The purpose of our project is to balance a robot automatically using motors, sensors and a microprocessor. The use of a pair of motors is to keep the robot in the upright position by using an accelerometer and gyroscope sensors. This provides a classic inverted pendulum. Generally the accelerometer sensor is noisy, but they are accurate over a short period of time. By using the sets of results obtained from the sensors and the calculated results, it can solve the problem of the classic inverted pendulum, and therefore the robot can be kept in the upright position without falling down.
- 4. Difference between balanced and unbalanced drives
- 5. Applications Rocket propeller works on the principle of inverted pendulum.
- 6. Applications Segway Robot can be used in such a way as to travel forward or backward. They can even be used as vehicles by humans. The current day short distance usage vehicles can be substituted by them.
- 7. System Architecture The robot can be classified into three main parts. Classification Inertial Sensors Logical Processing Unit Actuators
- 8. Inertial Sensor Unit The Inertial Sensor Unit comprises of gyroscope and accelerometer, which reads the angular velocity and angular position. ISU Gyroscope Accelerometer
- 9. Actuator Unit The Actuator Block has two drivers that receive analog voltage signal from controller and produce current signals to drive the motors at the desired torque. As the robot tilts, we require to apply a restoring force to return the robot to vertical position.
- 10. Logical Processing Unit The logical processing unit performs the following functions in our project: ADC conversion of outputs of Rate Gyro and Accelerometer. Processing the input signals. Periodic recalibration of gyro. Control of actuator unit.
- 11. Block Diagram
- 12. .