DEVELOPMENT OF SELF BALANCING ROBOT WITH PID CONTROL
Journal Title: International Journal of Robotics Research and Development (IJRRD) - Year 2017, Vol 7, Issue 1
Abstract
The paper describes utilization of the classical problem of inverted pendulum and its application to realize self-balancing robot. It is a two wheel vehicle whose structural, mechanical and electronic components were assembled in such a manner that it produced an inherently unstable platform which is highly susceptible to tip off in one axis. The wheels of the robot were capable of independent rotation each driven by a high torque DC motor. Information about the angle of the device relative to the ground was obtained from a 6DOFIMU (Inertial Measuring Unit) sensor which comprises of an accelerometer and agyroscope. Information from the IMU was processed and filtered to obtain accurat evalues which were fed to the micro processor on board. The microprocessor processed the feedback using a PID algorithm to generate position control signals i.e. apply proportional force to the motors as given by the program logic in order to restore the balance or to bring it back to its original vertical position. Two wheeled balancing robots can be used in several applications with different perspectives such as intelligent gardeners and autonomous trolleys in hospitals, transportation in shopping malls, offices, airports, or an intelligent robot.
Authors and Affiliations
SHARAT S. HEGDE, SAGAR CHAKOLE, VATSAL VORA
Keywords
Related Articles
- EP ID EP222610
- DOI -
- Views 168
- Downloads 0
Intelligent Process Automation –The Next Generation Tool for Robust Decision-Making
Intelligent Process Automation (IPA) or Cognitive Automation is an emerging technology that deals with integrating Artificial Intelligence and related new technologies including Computer Vision, Machine Learning and Robo...
Robotic Process Automation - A Virtual Assistant for Inventory Management
Robotic process automation (RPA) is an emerging form of business process automation technology based on the notion of software robots or Artificial Intelligence (AI) workers. The term RPA can be split as Robotic represen...
Optimization of Gripper Configuration by Genetic Algorithm
An algorithm to find out the optimum configuration from a list of possible options are carried out in this paper. An equation relating input force applied and output obtaining are found out for each configuration by the...
Intelligent Color Based Object Sorting using Robotics
The color-based object sorting is required in a variety of industries such as fruit, vegetable sorting, and packaging industry. The processing is complex in human controlled environments and hence accuracy and efficiency...
Wireless Landmine Detection Robot
In this paper, I have proposed a system of wireless landmine detection robot. For that various devices and modules are used such as Zigbee, sensors, controller, motors and drivers etc. Wireless locomotion of the robot is...