Implementation of Two Wheeled Self Balancing Platform
نویسندگان
چکیده
---------------------------------------------------------------------***--------------------------------------------------------Abstract The Self balancing robot is based on the inverted pendulum concept. In this concept an inverted pendulum is positioned on a cart and the cart is allowed to move on the horizontal axis and the pendulum is required to stand upright . This type of case is that of an unstable system. The angle measurement is done with the help of a sensor fusion of gyroscope and accelerometer i.e using an IMU, requiring filtering mechanism as both provide erroneous angle results. One such filter is the Kalman Filter, but the design and implementation of that filter is lengthy, tiresome and difficult to implement on smaller 8-bit micro controllers. This paper intends to design and implement a Self balancing robot with the help of a Complementary filter using PID algorithm as the control strategy. The robot is powered with a Hi-watt 9 volts battery to power the Arduino and sensor and AC to DC adapter to power the motor.
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