self balancing robot
Two wheeled balancing robot is a inverted pendulum type problem. To keep the robot in balance it needs to measure the tilt angle and control the wheels to adjust the robot back in the upright position. In our case we are using a
2025-06-28 16:34:56 - Adil Khan
self balancing robot
Project Area of Specialization RoboticsProject SummaryTwo wheeled balancing robot is a inverted pendulum type problem. To keep the robot in balance it needs to measure the tilt angle and control the wheels to adjust the robot back in the upright position. In our case we are using accelerometer to measure the tilt angle and gyroscope to complement the readings from the accelerometer. Motors we are using are basic DC motors without any encoders.
The height of the robot affects robot controlling. In our case having center of mass higher helps the balancing because it slows down the angular acceleration.The preliminary plan is to build the robot and using the IMU sensor (accelerometer and gyro). Two motors are used to spin two wheels separately so we can modify the motor inputs to get the robot in a right position. Also we use a PID to have smoother balancing reaction. The accelerometer measures the acceleration(gravity direction) of the chassis and the gyroscope is used to help maintain the balancing position.
Project Objectives- It is surveillance based so it gives the monitoring result of that area.
- It is load carrying and able to carry load.
- A clean , green eco friendly machine zero emission.
- Required less space.
- It will be time saving & Decrease the wastage of time.
It helps to monitor the any condition of the earth and help to study about it
Project Implementation MethodThe robot was built mainly on the magician chassis. The chassis includes two blue platforms, DC-motors, wheels, battery box and some bolts and nuts to attach the parts. The IMU-sensor was attached near the axis as mentioned before. The Arduino and the motor controller were installed on the top of the chassis and the battery was attached to the blue platform just above the motors. We also used some angle iron parts (displayed on the left side of the third and the fourth picture) to attach the motor controller to the blue platform.
Benefits of the Project- It is surveillance based so it gives the monitoring result of that area.
- It is load carrying and able to carry load.
- A clean , green eco friendly machine zero emission.
- Required less space.
- It will be time saving & Decrease the wastage of time.
It helps to monitor the any condition of the earth and help to study about it
Technical Details of Final DeliverableThe robot was built mainly on the magician chassis. The chassis includes two blue platforms, DC-motors, wheels, battery box and some bolts and nuts to attach the parts. The IMU-sensor was attached near the axis as mentioned before. The Arduino and the motor controller were installed on the top of the chassis and the battery was attached to the blue platform just above the motors. We also used some angle iron parts (displayed on the left side of the third and the fourth picture) to attach the motor controller to the blue platform.
Final Deliverable of the Project Hardware SystemType of Industry Others Technologies RoboticsSustainable Development Goals Quality EducationRequired Resources| Item Name | Type | No. of Units | Per Unit Cost (in Rs) | Total (in Rs) |
|---|---|---|---|---|
| Total in (Rs) | 66076 | |||
| Arduino Uno R3 | Equipment | 1 | 3500 | 3500 |
| module mpu6050 | Equipment | 3 | 1200 | 3600 |
| frame | Miscellaneous | 1 | 6000 | 6000 |
| gear motor | Equipment | 2 | 7488 | 14976 |
| cam wtih raspberry PI | Equipment | 1 | 8000 | 8000 |
| ultrasonic sensors | Equipment | 4 | 1000 | 4000 |
| arcylic sheets | Equipment | 2 | 8000 | 16000 |
| others | Equipment | 1 | 10000 | 10000 |