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The project aims to create a self-balancing two-wheel robot using motors, sensors, and a microprocessor to maintain an upright position. It utilizes an accelerometer and gyroscope to manage the classic inverted pendulum problem, ensuring stability through a digital control system. The robot's architecture includes an Inertial Sensor Unit, Actuator Unit, and a Logical Processing Unit for effective operation.

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Massimo
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7 views

twowheelselfbalancingrobot-141211054955-conversion-gate01

The project aims to create a self-balancing two-wheel robot using motors, sensors, and a microprocessor to maintain an upright position. It utilizes an accelerometer and gyroscope to manage the classic inverted pendulum problem, ensuring stability through a digital control system. The robot's architecture includes an Inertial Sensor Unit, Actuator Unit, and a Logical Processing Unit for effective operation.

Uploaded by

Massimo
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
Two Wheel
Robot
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.
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.
Difference between
balanced and unbalanced
drives
Applications
Rocket propeller
works on the principle
of inverted pendulum.
Applications
Segway
Robot can be They can even be
used in such a way used as vehicles
as to travel by humans.
forward or
backward.
The current day
short distance usage
vehicles can be
substituted by them.
System
Architecture
The robot can be classified into
three main parts.

Classification

Logical
Inertial Sensors Actuators
Processing Unit
Inertial
Sensor Unit
The Inertial Sensor Unit comprises of gyroscope and
accelerometer, which reads the angular velocity and angular
position.

ISU

Gyroscop Accelerom
e eter
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.
Logical
Processing
The logical processing unit
performs the following functions
in our project:

Unit
ADC conversion of outputs of
Rate Gyro and Accelerometer.
Processing the input signals.
Periodic recalibration of gyro.
Control of actuator unit.
Block Diagram
.

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