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thomgun_lc
Joined: 29 Jun 2004
Posts: 80
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 27 Jan 2006 7:52 balancing robot kalman filter |
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Hi there!!
My final project is about building 2 wheel balancing robot.
I plan to use :
1. AVR ATmega8535 as a microcontroller
2. DC motor with a gearbox
3. Accelerometer & gyroscope as a sensor.
4. WinAvr as a compiler.
But, i still confuse how to build that ???does anyone try to build this balancing robot??
Let's build this balancing robot. Does anyone interest with this project?
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House_Cat
Joined: 21 Feb 2002
Posts: 1507
Helped: 307
Location: USA
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27 Jan 2006 18:39 balancing robot only with accelerometer |
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| There is a very good website about a balancing robot, with a number of useful references toward the bottom of the page. For ideas, take a look at the references at: http://www.geology.smu.edu/~dpa-www/robo/nbot/
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thomgun_lc
Joined: 29 Jun 2004
Posts: 80
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17 Mar 2006 7:36 2 wheel balancing robot |
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Hi House_Cat Thx for your referrer link. But, how to build this robot step by step?does anyone interesting with this balancing robot project?
I plan to use accelerometer and gyroscope but don't know how to combine that two sensor. Can anyone help me?
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IanP
Joined: 05 Oct 2004
Posts: 6490
Helped: 1542
Location: West Coast
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17 Mar 2006 8:19 kalman filter*balancing robot |
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I would start with just single-axis accelerometer, such as ADXL202, and add (for the time being) one (or two) small wheel(s) so the robot will not fall if something goes wrong ..
The output voltage from the ADXL sensor (as a tilt sensor) looks like a parabola (hyperbola) and that should be enough tilt/vertical information for a microcontroller to maintain the robot's vertical position and monoeuvre forwards and reverse .. with, and later without, using the supportive wheel(s) ..
Information on the ADXL202 sensor is readily available (google) ..
Regards,
IanP
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thomgun_lc
Joined: 29 Jun 2004
Posts: 80
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20 Mar 2006 10:12 build 2 wheel balancing robot |
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 . Thx IanP for ur attention.
Actually, i want to built this robot with 2 combination sensor. Accelerometer&Gyroscope.
I heard accelerometer has a low response time, is it true?
How to combine this two sensor using AVR with c programming (winavr)?
Using kalman filter?
How about if i only use accelerometer as a tilt sensor?
Any comment?
I use a second hand DC motor,but i still don't know how to synchronize that both motor?
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Google
AdSense
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20 Mar 2006 10:12 Ads |
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jhbbunch
Joined: 21 Feb 2006
Posts: 222
Helped: 16
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21 Mar 2006 9:35 2 wheel balancing robot sensor |
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| Stick it on a segway.
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thomgun_lc
Joined: 29 Jun 2004
Posts: 80
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15 Apr 2006 10:15 project two wheel robot+gyroscope |
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How about the DC motor should i use??I'm still confused to decided which motor should i use. I need a fast DC motor with gearbox.
Need ur help please
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