In this Instructable I wanted to show to you how to make a self balancing robot. What makes it unique is that its exterior is made to look like the Instructables Robot. Internally it works in the principle of PID, it is a very popular control system for maintaining a variable from fluctuating. In this instructable I have used the MPU6050 which is a gyroscope and an accelerometer in a single package. The gyroscope is used to find the angular orientation and the acceleration. For our application we just need the gyroscope data. To start off I will discuss the various applications and knowledge obtained from this project. Please vote for my entry in the "Instructable Robot Contest" if you find this instructable good.
Knowledge of how to use the MPU6050 module.
How to implement the data to balance the robot.
How to implement control systems to your projects.
This Instructable serves as an introduction to the various Control Systems.
This Control System should be used when the controlled element needs precise control.
This balancing robot can be easily made by a Novice Arduino Programmer using this Control System.
This control system's efficiency depends on the tuning of three variables namely the Proportional constant, Integral constant and Derivative constant, So once you tune the variables accurate control of the robot is achieved. I have provided most of the instructions for making the robot. This robot is in the intermediate level of robotics so beginners shouldn't get frustrated because it for very challenging for Me!!!
The material needed to make this balancing robot can be grouped into two categories as shown below:
Please note that I have not used Acrylic Sheet as mentioned but Hylam Sheet(Bakelite Sheet). It is very much similar to acrylic but more rigid and easier to cut. It is commonly used in India for Switchboard Boxes. It may or may not be available in your Country so I mentioned it as an Acrylic Sheet.