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Self Balancing Robot

The document discusses the MPU-6050, a microelectromechanical systems device that combines a 3-axis gyroscope and 3-axis accelerometer. It measures angular velocity and linear acceleration. The small gyroscope sensor detects tiny shifts in a resonating mass when rotated to measure angular velocity without interference from linear acceleration. Applications include use in drones, self-balancing robots, and other devices where orientation and motion need to be tracked.

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176 views

Self Balancing Robot

The document discusses the MPU-6050, a microelectromechanical systems device that combines a 3-axis gyroscope and 3-axis accelerometer. It measures angular velocity and linear acceleration. The small gyroscope sensor detects tiny shifts in a resonating mass when rotated to measure angular velocity without interference from linear acceleration. Applications include use in drones, self-balancing robots, and other devices where orientation and motion need to be tracked.

Uploaded by

Vasu Rockstar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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SELF BALANCING ROBOT

MPU-6050
It is a Six-Axis
MEMS(MicroElectroMechanicalSystem)
MotionTracking Device.
The MPU-6050 devices combine a 3-axis
gyroscope and a 3-axis accelerometer on the
same silicon die, together with an onboard
Digital Motion Processor (DMP), which
processes complex 6-axis MotionFusion
algorithms. The device can access external
magnetometers or other sensors through an
auxiliary master I²C bus, allowing the devices
to gather a full set of sensor data without
intervention from the system processor. The
devices are offered in a 4 mm x 4 mm x 0.9
mm package.
• For precision tracking of both fast and slow motions, the parts feature a user-programmable gyro full-scale range of ±250,
±500, ±1000, and ±2000 °/sec (dps), and a user-programmable accelerometer full-scale range of ±2g, ±4g, ±8g, and ±16g.
Additional features include an embedded temperature sensor and an on-chip oscillator with ±1% variation over the
operating temperature range.
• Gyros are often used on objects that are not spinning very fast at all. Aircrafts (hopefully) do not spin. Instead they rotate a
few degrees on each axis. By detecting these small changes gyros help stabilize the flight of the aircraft. Also, note that the
acceleration or linear velocity of the aircraft does not affect the measurement of the gyro. Gyros only measure angular
velocity.
Internal operational view of a MEMS gyro sensor
The gyroscope sensor within the MEMS is tiny (between 1 to 100
micrometers, the size of a human hair). When the gyro is rotated, a
small resonating mass is shifted as the angular velocity changes.
This movement is converted into very low-current electrical signals
that can be amplified and read by a host microcontroller.
Bias
• As with any sensor, the values you measure will contain some amount of error or bias. You can see gyro bias by measuring
the output when the gyro is still. Though you’d think you would see 0° when the gyro is still, you will always see a slight
non-zero error in the output. These errors are sometimes called bias drift or bias instability. The temperature of the sensor
greatly affects the bias. To help minimize the source of this error, most gyros have a built in temperature sensor. Thus, you
are able to read the temperature of the sensor and correct or any temperature dependent changes. In order to correct for
these errors, the gyro must be calibrated. This is usually done by keeping the gyro still and zeroing all of the readings in
your code.
• APPLICATION OF MPU-6050
• It is used for Inertial Measurement.
• It can be used in Drones / Quadcopters as direction controller.
• It used in Self-balancing robots.
• It can use as Robotic arm controls.
• It can be used in Humanoid robots
• It used in Tilt sensor.
• It can be used orientation or Rotation Detector.
• It can be in Handset and portable gaming
• It used in Motion-based game controllers
• It used in 3D remote controls for Internet-connected DTVs and set-top boxes, 3D mice
CIRCUIT
Physical Significance
Microstructure
BIBLIOGRAPHY

• https://www.invensense.com/products/motion-tracking/6-axis/mpu-6050/
• https://www.theengineeringprojects.com/2019/02/introduction-to-mpu6050.html
• https://learn.sparkfun.com/tutorials/gyroscope/all

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