Fabrication, Balancing and Analysis of Two Wheeled Robot

Padhan, Manas Kumar (2015) Fabrication, Balancing and Analysis of Two Wheeled Robot. MTech thesis.



Two wheeled self balancing robot is based on the concept of inverted pendulum, which center of mass is above the pivot point. Generally the pendulum is an unstable system on its horizontal plane and must be balanced to remain upright. This can be achieved by applying require amount of torque to the pivot point. Similarly here in two wheeled balancing robot being unstable will deflect from its vertical position and try to fall down. The angle of tilt is calculated by IMU sensor and sends to the microcontroller, which further gives a command to the motor through the motor controller to move in the same direction where the robot has been tilted. When the motor will rotate, it will give an opposite torque to the robot through the pivot point which will counter the angle of deflection and the robot will be stable. This will happen for both the direction of the deflection and hence the robot will move forward and backward and finally it will be balanced. So it require both mechanical and electronics equipment for the robot to achieve the goal.

Item Type:Thesis (MTech)
Uncontrolled Keywords:Segway, Motor Controller, Inverted Pendulum, Kalman Filter, PID controller
Subjects:Engineering and Technology > Mechanical Engineering > Robotics
Divisions: Engineering and Technology > Department of Mechanical Engineering
ID Code:7701
Deposited By:Mr. Sanat Kumar Behera
Deposited On:26 May 2016 11:40
Last Modified:26 May 2016 11:40
Supervisor(s):Parhi, D R

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