Development of a Self-Balancing Robot

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Kiss Domokos
Department of Automation and Applied Informatics

The discussion of two-wheeled inverted pendulum robots is a frequent topic in the field of mobile robots. One example of commercial two-wheeled transporters is the Segway. The operator is on top of a naturally unstable platform that is stabilized by means of a control system [5].

In this thesis, the design and construction of a similar two-wheeled, actively balancing robot is presented. For the design process, a preliminary mechanical model was created to get some information about suitable components and mechanical parameters. The angle of body is estimated using gyroscope and accelerometer with sensor fusion. Encoders are used to measure the angle of the wheels. A state feedback control algorithm runs on the microcontroller. The controller was designed using pole placement method. For controller design a refined mechanical model was created taking into account the effect of transmission. The robot can hold its position and orientation while balancing. Furthermore it can be remote controlled using a PC software while maintaining its vertical angular position.


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