Memsic 2125 physics question

Whelzorn

Ok. I'm not entirely sure how to ask this, but I'll try.
I've got a two-wheeled vehicle, where the wheels rotate on the same axis (balancing robot)
I want to mount a MXD2125 in the most meaningful location possible. I figure that directly on the wheels axis of rotation would be best, that way the only acceleration it measures will be due to tilt, and acceleration of the vehicle moving.
I am doing this because mounting it higher would cause it to measure the acceleration due to the thing "swaying" as it tilts, giving me something to filter out in code.
So I'm just asking if this is worth doing? I haven't seen any balancing robots bother to mount the accelerometer on the axis of wheel rotation (I know the gyro doesn't matter) so I am curious as to what benefit this would actually have.
Thanks, Justin

Bruce Bates

Whelzorn -

I can't necessarily answer your question from a physics standpoint, but most balancing robots I've seen keep the accelerometer or tilt sensor as high as possible. Yes, you may have to utilize some sort of filter to reduce the "swaying". You may want to familiarize yourself with the Kalman Filter here: http://en.wikipedia.org/wiki/Kalman_filter .

Here is some more interesting information about a two-wheeled, inverted pendulum robotic platform: http://www.geology.smu.edu/~dpa-www/robo/nbot/ .

Regards,

Bruce Bates

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