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首页> 外文期刊>International journal of robotics research and development >DEVELOPMENT OF SELF BALANCING ROBOT WITH PID CONTROL
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DEVELOPMENT OF SELF BALANCING ROBOT WITH PID CONTROL

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The paper describes utilization of the classical problem of inverted pendulum and its application to realize self-balancing robot. It is a two wheel vehicle whose structural, mechanical and electronic components were assembled in such a manner that it produced an inherently unstable platform which is highly susceptible to tip off in one axis. The wheels of the robot were capable of independent rotation each driven by a high torque DC motor. Information about the angle of the device relative to the ground was obtained from a 6DOFIMU (Inertial Measuring Unit) sensor which comprises of an accelerometer and agyroscope. Information from the IMU was processed and filtered to obtain accurat evalues which were fed to the micro processor on board. The microprocessor processed the feedback using a PID algorithm to generate position control signals i.e. apply proportional force to the motors as given by the program logic in order to restore the balance or to bring it back to its original vertical position. Two wheeled balancing robots can be used in several applications with different perspectives such as intelligent gardeners and autonomous trolleys in hospitals, transportation in shopping malls, offices, airports, or an intelligent robot.

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