After getting so much frustrated over PID tuning of quadcopter, I decided to master PID first on some basic project. Self-balancing robot seems an idle choice. Since it’s not new and still challenging, I decided to go for it.
I never thought it will be easy and I am not disappointed. I learned a lot from it and decided to share it with others.
Step 1: Concept/Theory
What is Self-balancing robot?
Self-Balance Robot is somewhat which balances itself and automatically corrects its position on disturbance.
How it works?
It will be prevented from falling by giving acceleration to the wheels according to its inclination from the vertical. If the bot gets tilts by an angle, than in the frame of the wheels, the center of mass of the bot will experience a pseudo force which will apply a torque opposite to the direction of tilt.
That’s the technical answer. If you want to know in simple terms, recall the stick balancing game which you used to play in your childhood.Yeah, the one in which you balance stick in your hand. If stick falls forward, you move your hand forward and vice-versa. Now consider the stick your robot and the 2 tire’s as your hands. The same technique you used to balance stick will now be used to balance robot.
First we need some materials to build our chassis. I choose Acrylic sheet. Some screws will be needed according to design which we will discuss shortly plus 2 tires.
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