MINI PROJECT

SELF BALANCING ROBOT

SUBMITTED TO:-
DEEPTI SINGH
 Project synopsis on

SELF-BALANCING ROBOT
 Under taken by:
Name 1 :- KESHAV SHARMA (1829013023)
Name 2 :- MANAV CHAUDHARY (1829013026)
Name 3 :- KASHAN KHAN (1829013021)
Name 4 :- MAHAK GUPTA (1829013025)
ABSTRACT
A self-balancing robot is a type of robotic vehicle that can balance itself.
It typically consists of two wheels arranged side-by-side, with two small
platforms between the wheels. The device is controlled by the use of
microcontroller and IMU.
The goal of this project is to make a self-balancing robot, also called an
inverted pendulum. The basic idea is that you have a mass located above
its pivot point. This causes the robot to be unstable, and without any
help, it will quickly fall over. Sensors on the robot will take acceleration
and gyroscope measurements, which are sent to a control algorithm. As
the robot starts to fall, the control algorithm will send a signal to the
motor, telling it which direction and how much to move in that direction
in order to keep the robot upright. This project involves a huge range of
knowledge from mathematics, mechanics, and programming.
WORKING PRINCIPLE
An inverted pendulum balance-bot is inherently unstable. Conveniently,
the high center of gravity creates a large moment of inertia that slows
the rate at which it will fall. We can leverage this slow fall by continually
moving the wheels under the vehicle as it falls. If it leans forward, the
wheels roll forward to counteract the fall. A simple PID loop in the
robot’s software is the basis of the balance control:

The proportional term takes the angle error of the bot and sends that
scaled value to the motors, to keep the wheels rolling into the fall.

The integral term is used the same way, but is the sum of all angle errors
over time and helps to cancel out center-of-gravity issues.

The derivative term is critical. Without it, we can’t control acceleration.

BLOCK DIAGRAM

COMPONENTS REQUIRED
 HARDWARE
1. Vehicle Chassis
2. Arduino Uno
3. Connecting Wires
 4. DC motors
5. IMU Sensor
6. L293D H-Bridge
7. 9V DC battery

 SOFTWARE
1. Arduino IDE
APPLICATIONS

 Rocket propellers works on the principle of inverted pendulum

 Segway robot can be used in such a way as to travel forward or
backward
 They can be even used as vehicles by humans
 The current day shot distance can be substituted by them

REFERENCES

http://www.transistor.io/balancing-robot.html
http://www.instructables.com/id/Self-Balancing-Robot/?ALLSTEPS
http://www.instructables.com/id/2-Wheel-Self-Balancing-Robot-by-
using-Arduino-and-/?ALLSTEPS
http://www.instructables.com/id/Make-a-Self-balancing-Robot-with-
Arduino-UNO/?ALLSTEPS
http://makezine.com/projects/arduroller-self-balancing-robot/