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Questions tagged [balance]

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1
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2answers
36 views

How to maintain a robot's center of gravity

I am on a robotics team where our robot has to balance on an unstable beam. However, at the same time, the robot must be able to reach to the side in order to grab field materials. What possible ...
0
votes
0answers
78 views

Using fuzzy logic to balance a two wheeled arduino robot

I currently have a three wheeled arduino robot, but im going to remove the back wheel and try to implement a fuzzy logic algorithm so the robot is able to balance itself on two wheels. My only concern ...
0
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3answers
395 views

Balancing robot - How to control the velocity and angle

We are currently making a balancing robot as a school project. The robot has a gyroscope and an encoder to get the angle of the robot and the rpm of the wheels. By using the current angle of the ...
7
votes
2answers
278 views

Accelerometers in a self-balancing robot, can't we do better?

I'm currently reading on self-balancing robots that use an IMU (gyroscopes + accelerometers) to estimate their current tilt angle. Most documents that I have found say the same things: You can't ...
1
vote
0answers
52 views

Theory behind wheeled inverted pendulum robots [closed]

I'm trying to get a deeper understanding of the theory behind wheeled self-balancing robots. Can anyone point me to a text on dynamic modelling and control theory that might help?
3
votes
2answers
326 views

Two-wheeled self-balancing robot - Choosing the control system

Would an Arduino Uno have the precision-timing required (using only firmware) to control a two-wheeled inverted pendulum robot, or would it need a RTOS? Note: Thanks for both answers, they both ...
0
votes
1answer
452 views

Balancing robot tuning approach

I'm at the stage where I assembled a balancing robot and it's not maintaining a stable position. This is not a surprise I just started testing last night. My code is here, views of the device are ...
4
votes
1answer
180 views

How can I compensate for pendulum and cart motion when using an accelerometer to detect the tilt angle?

I have an accelerometer mounted to an inverted pendulum (i.e. a cart-pole robot) which I'm using to measure the tilt angle from the vertical upright position (+y direction). If the inverted pendulum ...
0
votes
1answer
106 views

Can I model a 1D segway as a cart-pole system?

The equations of motion for a cart-pole (inverted pendulum) system are given as $$(I+ml^2)\ddot{\theta}+mglsin(\theta)+ml\ddot{x}cos(\theta)=0$$ $$(M+m)\ddot{x}+ml\ddot{\theta}cos(\theta)-ml\dot{...
0
votes
1answer
64 views

Why do I need an additional moment of inertia term in the cart-pole dynamics equation?

I'm trying to understand the dynamic equations for the cart pole system according to this control tutorial from the University of Michigan, where the angular acceleration equation can be written as $(...
3
votes
4answers
599 views

Alternatives to Kalmam Filter

I am currently working on a self balancing robot project. I am going to use a MPU6050 to get data from both the accelerometer and the gyroscope. Since I need to get accurate data in a very small ...
5
votes
1answer
1k views

Balance Bot PID tuning

so I am working on a Self Balancing Bot with Arduino Mega. I'm using 12V 200 RPM motors with built in 840 PPR quadrature encoders. The torque rating is as follows: Rated Torque: 2.4 Kg-cm Stall ...
4
votes
1answer
195 views

Should I use an arduino to control my balancing robot's motors?

I'm building a 2-wheel balancing robot from old parts. DC motors from an old printer, wheels from a BBQ, bodywork from an old optical drive etc. The brain of the robot is a Raspberry Pi 3. I'm using ...
4
votes
1answer
952 views

Finding Center of Mass for Humanoid Robot

I've been working on Humanoid Robot, and I face the problem of finding the Center of Mass of the Robot which will help in balancing the biped. Although COM has a very simple definition, I'm unable to ...
8
votes
4answers
763 views

Optimal location of the center of mass for an inverted pendulum

I'm building an inverted pendulum to be controlled by DC motors, but I've run across a conundrum. Personal life experience tells me that it's better to have a lower center of mass to maintain balance....
2
votes
1answer
63 views

What can this picture/data tell?

I've implemented a model of a ball-on-plate plant and am controlling it over a network. Below is the open loop output when excited by successive sinusoidal inputs with increasing frequencies. I know ...
1
vote
1answer
70 views

Where should I put the angle sensor on my cart-pole robot?

I'm using an accelerometer and gyroscope to detect the angle and tilt rate on my two-wheeled cart-pole robot. Is there an optimal height to place the sensors? Should I place them closer to the ...
2
votes
2answers
489 views

How Should I tie My quadcopter to some thing, to adjust pid on one axis

I am stuck in adjusting the PID of my quadcopter, I cant adjust them on the fly because it just get out of control. I am adjusting them while attaching my quadcopter to something. Is this method ...
0
votes
1answer
80 views

What factors should i consider when selecting a motor for a free wheeled cart-pole balancing robot?

I'm developing a small scale cart-pole balancing robot consisting of two wheels driven by a single motor at the base (essentially like a unicycle, but with two wheels to constrain balance to a one ...
1
vote
3answers
178 views

What PID values should i keep

I have built quadcopter but the problem is of balancing. It doesnt goes up. I am using PID techniqe for balancing. But i am not finding the suitable values for PID tuning. I am using mpu6050 as a ...
8
votes
1answer
5k views

How to balance a flying quadcopter?

I'm using my own code to create a quadcopter robot. The hardware part is done but I need to balance the copter. The original video demonstrating the problem was shared via dropbox and is no longer ...
25
votes
3answers
3k views

What algorithm should I use for balancing a two wheeled robot using a gyroscope?

Is there a good, popular and reliable algorithm I can use by taking input from a gyroscope and using this to control two independant wheels to keep such a balanced robot reliably upright? I'm looking ...