We move our finger in the direction in which the stick is falling. Then how do we balance it? Consider balancing a broomstick on our index finger which is a classic example of balancing an inverted pendulum. Unlike a normal pendulum which keeps on swinging once given a nudge, this inverted pendulum cannot stay balanced on its own. The self-balancing robot is similar to an upside down pendulum. Let’s start with some fundamentals before getting our hands dirty. 8, 25cm Nylon spacers and 4, nylon nutsĪpart from the above, you will need some cables, berg connectors and one on/off switch. 3, Double-sided prototype PCB (4cm x 6cm)ġ0. Pair of micro metal gear motors (N20, 6V, 200 rpm) and bracketsĩ. I bought most of these parts from aliexpress but you can find them in any other electronics store as well.ħ. An ultrasonic rangefinder is also added to the robot which prevents it from banging into obstacles as it wanders around. In the steps that follow, we will see how to interface the MPU6050 with Arduino, how to measure the angle of inclination of the robot, how to use PID to make the robot stay balanced. This is a tiny robot measuring 4 inches wide and 4 inches tall and is based on the Arduino Pro Mini development board and the MPU6050 accelerometer-gyroscope module. In this instructable, I’ll show you how to build a small self-balancing robot that can move around avoiding obstacles.
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