Self Balancing Robot Algorithm?

Thread Starter

crazyengineer

Joined Dec 29, 2010
156
Does anyone know the trick in programming a self balancing robot? The only thing I could find in my search is other people's self balancing robot projects.
 

ErnieM

Joined Apr 24, 2011
8,029
AFAIK Microchip has a 2 dimension self-balancing demo, 2 dimensions as it just spins in place to balance the arm vertical. I don't have a link so you'll have to search them yourself.
 

hgmjr

Joined Jan 28, 2005
9,029
One approach would be to use PID algorithm as a means of controlling the robots balance.

The most primitive mechanism I have seen used to determine the robots vertical orientation was an ultrasonic distance measuring scheme.

I would be inclined to use a tilt sensor with an analog output.

There are quite a few examples of balancing robots on youtube. You can get some ideas there.

hgmjr
 

atferrari

Joined Jan 6, 2004
3,912
I recall reading an article appearing in Elektor magazine (in Spanish or maybe English language).

The whole theory behind the solution was clearly explained.

That was about two years ago IIRC.
 

atferrari

Joined Jan 6, 2004
3,912
Now, I recall another more recent issue, also from Elektor, where there is a design that involves kind of a ruler with a small metallic ball always kept in balance. In the basics it is the same problem. It was properly explained as well.
 
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