Self balancing robot kit uses PID

PID control algorithms are widely used method for smooth control of inertial systems. This can be motor speed control, heating, flight control. Balancing robots is one of fun projects where PID control algorithms are easy to learn. You can change P.I.D parameters and see how they change the behavior of robot. Sean Hodgins has been working on balancing robots and thought why not to build one with PID system. This can be fun to learn and explore. So he came up with small robot carrying Arduino Nano, 3 potentiometers, 6 DOF IMU. All electronics are mounted on custom PCB once mounted, burn software and you are up to experimenting. You can change each PID parameter by turning any of three potentiometers. Easy and intuitive even for kids. Continue reading

Arduino Nano Self-Balancing Robot

An engineering student must have heard about PID controllers, which are useful parameters in any control system design. A self-balancing system uses this PID Controller along with kalman filter. This project is not only useful to hobbyist or students but also teachers. It’s more of a PID teaching tool implemented on a self-balancing bot and demonstrates what are the effects of different PID parameters on the object. It changes its PID values In real time with the help of three different potentiometers attached on-board. Everything can be brought from spark-fun, however a part on the bot has been 3d-printed. It’s built around an Arduino Nano along with a 6 degree of freedom sparkfun IMU sensor with additional peripherals such as motor driver, lipo battery e.t.c . The PCB is custom designed, however the files are available. Although the code might be little tough to understand at first sight, but it works perfectly.It also has positioning return system which takes the amount of time the motors are tuning in each direction and the speed and figures out how far away it… Continue reading

Bot with a Balance

The project I am going to talk about next is actually a self-balancing bot or rather an instructions on how to build your own self balancing bot. The electronics features an ATmega328 running 16MHz and 3.3V. It’s out of spec according to the datasheet but it worked for the author. The sensing part consists of a MPU6050 chip which combines a 3 DOF gyro and 3 DOF accelerometer in a small package, which is ideal for a self-balancing bot. The chassis is made from a sheet of polystyrene, since it’s really easier to cut with a sharp knife. The MPU6050 sensor is actually mounted at the bottom of the lowest plate of the chassis so that it can work efficiently. Apart from it he has used a brushless DC motors along with its driver and rest of the stuff normally required. The main part of the project is coding the Arduino. The first step involved getting data from the sensor which has to be filtered by using a Kalman Filter whose library for Arduino is available online. Next was the… Continue reading

Robot balancing on a ball

We have seen many robots that balance on flat surface. But this is actually nothing compared to one that balances on the ball. Ufactory from instructables built amazing balancing robot that stands on a ball and balances itself by using three omni-directional wheels driven by three DC motors. Robot can move to any direction by guiding it with remote control. From technical point of view, robot is based on STM32 ARM Cortex microcontroller and other electronics that allow driving motors, receiving remote signals, reading sensors like gyro, accelerometer, geomagnetic, encoders. Robot caries a camera module that allows sneaking arround and capturing images. Top plexiglass plate could be used to carry things like birthday cake – hopefully without dropping it… Continue reading

Vertibot – lightweight two wheel balancer

Two wheel balancing robots are fun to watch. They are unusual to our eyes and always seems that it will fall. The secret is that those balances constantly struggle to fight the flipping by adjusting its vertical position. This is how famous Segways work – they constantly try to keep vertical. Simple enough, but when you try to build something similar, there are quite enough technical challenges. Madefrutos have built a lightweight balancing robot based on Arduino Nano, which packs some interesting features. The robot so called VertiBOT was built with educational intent. The control algorithm uses kalman and complementary filter methods along with PID. Each wheel is driven by two small motors that are controlled by Atmeta328 in Arduino Nano. Robot determines its current position using 6 DOF accelerometer and gyro ADXL345/ ITG3200. Robot chassis has been 3D printed that makes it really unique. Since it is more educational project, you will find a nice description along with some theory that might help you to build your own balancer. Continue reading

Self balancing robot – from theory to practice

What does it take to build self balancing robot. If you wanna skip heavy book reading check out Kerry D. Wong’s series of project logs. Starting with simple idea and little bit of theory in part 1 then he goes to real world implementation. Circuit is based on Atmega328p microcontroller which takes care of reading MMA8453Q accelerometer and LPY450AL gyroscope data and according to calculated inclination angle controls motor using H-bridge. Motor and gear box is taken from motor car toy and seems to work well. And most motivating in this that building self balancing robot doesn’t cost much – just under $20. Continue reading