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How To Build Balancing Robot ?? — Parallax Forums

How To Build Balancing Robot ??

pusinkpusink Posts: 68
edited 2012-02-08 10:09 in General Discussion
i want to build my first balancing robot...which sensor i must use??

Comments

  • LeonLeon Posts: 7,620
    edited 2011-07-26 03:43
    An inverted pendulum can use a single pot. if the carriage position and speed are known.
  • pusinkpusink Posts: 68
    edited 2011-07-26 04:29
    It is ok..if i only use Memsic 2125 Dual-axis Accelerometer?
  • MicrocontrolledMicrocontrolled Posts: 2,461
    edited 2011-07-26 05:51
    Yes. Adjust the motors according to the position on the accelerometer to keep it balanced. What kind of motors are you using? (Not servos I hope!)
  • WhitWhit Posts: 4,191
    edited 2011-07-26 06:02
    The last three issues of Robot magazine have a three part series - Budget Balancing, written by forum member erco. He uses a $9 - Sharp IR sensor. Part 1 is in the May/June issue, Part 2 is in the July/August issue, and part 3 is in the September/October issue (on shelves now).

    This might be an great way to give it a whirl.
  • pusinkpusink Posts: 68
    edited 2011-07-26 07:08
    Microcontrolled wrote: »
    Yes. Adjust the motors according to the position on the accelerometer to keep it balanced. What kind of motors are you using? (Not servos I hope!)

    I'm using BS2p40, Pololu Micro Dual Serial Motor Controller, DC Motor --> http://www.cytron.com.my/viewProduct.php?pid=Lw4NNjUnKRgrGSAABRMWGob4xjRHXRNopNbl68d8/XM=
  • pusinkpusink Posts: 68
    edited 2011-07-26 07:11
    Whit wrote: »
    The last three issues of Robot magazine have a three part series - Budget Balancing, written by forum member erco. He uses a $9 - Sharp IR sensor. Part 1 is in the May/June issue, Part 2 is in the July/August issue, and part 3 is in the September/October issue (on shelves now).

    Thank you whit...
  • ercoerco Posts: 20,261
    edited 2011-07-26 13:01
    Whit wrote: »
    this might be an great way to give it a whirl.

    Might??? :)
  • WhitWhit Posts: 4,191
    edited 2011-07-26 14:53
    @erco - I wouldn't have added qaulifier if you had used wood...

    @pusing - no problem!
  • ercoerco Posts: 20,261
    edited 2011-07-26 15:06
    You guys will love nextbot Woodrow. The mechanicals, anyway.

    Much less so the electronics.
  • prof_brainoprof_braino Posts: 4,313
    edited 2011-07-26 15:56
    Leon wrote: »
    An inverted pendulum can use a single pot. if the carriage position and speed are known.

    This certainly sounds cheaper than the memsic. This would be a cool project to try....

    http://courses.cit.cornell.edu/ee476/FinalProjects/s2003/es89kh98/es89kh98/index.htm
  • graffixgraffix Posts: 389
    edited 2011-07-26 16:01
    Good luck!!!
  • pusinkpusink Posts: 68
    edited 2011-07-27 16:32
    i alraedy buy Memsic 2125 Dual-axis Accelerometer...any tips to control motor with this Memsic 2125 Dual-axis Accelerometer...
  • graffixgraffix Posts: 389
    edited 2011-07-27 19:26
    I have some code on my balance bot post that uses the lmd 18200 h bridge and a memsic to achieve poor balance.It may help some.also there is a balance bot by a Dr.Scott Baker who did a similar bot to Hannos.try to Google it.to get smooth operation IMO you'll need a gyro accellerometer wheel encoders in a PID loop.
  • pusinkpusink Posts: 68
    edited 2011-07-27 21:45
    can you explain...why need accellerometer and gyro sensor...
  • graffixgraffix Posts: 389
    edited 2011-07-27 22:27
    ill send a PM (only because its for sale) and talk about what hanno has to say in Programming and customizing the multicore Propeller book.I know its a different MCU but I think the fundamentals are the same.
  • HannoHanno Posts: 1,130
    edited 2011-07-28 17:53
    You'll need to measure the "tilt" precisely- even when it's swaying back and forth. If you just want to balance on one surface then proximity is a cheap and easy solution. However, measuring proximity to different materials/colors under different lighting is unreliable- so if you want to do it right you need to measure both which way gravity (accelerometer) is pulling and how quickly you're tilting (gyroscope)- and then fuse those two signals using a kalman filter. You can buy a 9-axis IMU's that does everything for you- including kalman filter. That will let you balance on any surface and level under any condition. Getting a bot to balance, ie stand up is easy, getting it to move smoothly under it's own control is difficult- you'll need high resolution encoders for that. It all depends on what you want...
    Hanno
  • ctwardellctwardell Posts: 1,716
    edited 2011-07-28 18:44
    erco wrote: »
    You guys will love nextbot Woodrow. The mechanicals, anyway.

    Much less so the electronics.

    Can I have one guess as to what material was used to make WOODrow?

    C.W.
  • ercoerco Posts: 20,261
    edited 2011-07-29 08:36
    One can only surmise... !

    Plywood wheels, just for spite!
    woodrow.jpg
    816 x 612 - 71K
  • samramofficialsamramofficial Posts: 3
    edited 2012-02-08 06:24
    I am using ADXrs613. Is it correct to use it. I want to know how to start with the making of the inverted pendulum as far as the body construction and the complete construction of the bot. Please help me with how to proceed it.
  • samramofficialsamramofficial Posts: 3
    edited 2012-02-08 06:29
    Guys first help me on how to start with this project . I am using arduino board. Please help me....I am in a miserable situation. Please help me>>>>>
  • TtailspinTtailspin Posts: 1,326
    edited 2012-02-08 07:15
    How can I help? :coffee:

    Please tell me more...


    -Tommy
  • Martin_HMartin_H Posts: 4,051
    edited 2012-02-08 10:09
    How much experience do you have? If you're fairly new to robot building consider using an existing design like this one:

    http://blog.makezine.com/2011/07/19/arduino-based-2-wheel-balance-bot/

    While true balance bots are neat, it is possible to build a passive balance bot using creative construction techniques. Take a look at this design by Gordon McComb:

    http://www.robotoid.com/appnotes/construction-no-casters.html

    It uses passive balancing much like the Androbot back in the 80's. What is good about this design is that from a software perspective it is just a regular differential steering robot.
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