Design And Development of Self Balancing Robot

Abstract

Robots are used widely in routine activity. Researchers are currently working towards to enhance robot's capability in different applications. Wheeled type mobile robots are extensively used in many application due to its maneuverability over the legged robots. Two wheel robots are used in applications where there are certain constraints for the maneuvering. This structure is similar to the inverted pendulum on cart. The first objective is to derive the dynamic mathematical model established on the theory of inverted pendulum. The dynamic model consists of three parts viz. motor dynamics, structure dynamics and the wheels dynamics. The linearized equation of motion has been derived based on the newton approach. Linearization of statespace equation was established before approaching to the control theory problem. Control issue is addressed with the help of PID control theory. Optimum value of Kp, Ki and Kd has been derived to verify whether the structure is stable, using system dynamic equation of motion. Mechanical structure consist of chassis, motors, motor driver, sensor and micro-controller. It is a control problem of stabilizing the structure using PID for feedback. The complementary filter is introduced to process the signals from the IMU sensor. The algorithm is applied using MATLAB and arduino programming. The final goal is to make a prototype by integrating all required components to maintain the unstabilized structure in the upright position and remove the disturbances. In this thesis, the validation objective is verified using a arduino micro-controller, MPU6050 IMU sensor and L298N motor-controller.