Self Balancing Bot New

Overview

What if machines can sense its orientation like us and make itself stand straight?
With an idea to build a robot, to study and implement some theories of robotics, electronics and controls, we have developed a self balancing robot, SELROB.
The Self Balancing Robot senses its orientation using mpu6050, providing the motion in desired direction. This helps bot to balance itself.

Working Principle

Self-balancing robot is based on the principle of Inverted pendulum. An inverted pendulum is a pendulum that has its center of mass above its pivot point, making it inherently unstable. So, an external torque is to be applied in order to remain upright.

Components

Arduino UNO
MPU6050
Motor driver Circuit (L293D)
DC geared motors
Chassis
Li-Po Battery 2200mAh

Working

Mechanical design consist of two dc gear motor with one arduino microcontroller, IMU (inertial mass unit) sensor and motor driver as a basic need. For protection of battery we used a protection circuit. IMU sensor which consists of accelerometer and gyroscope gives the angle with respect to ground (vertical). It will be prevented from falling by giving acceleration to the wheels according to its inclination from the vertical. If the bot gets tilts by an angle, than in the frame of the wheels; the center of mass of the bot will experience a pseudo force which will apply a torque opposite to the direction of tilt