-1

I am making a arduino based 2 wheeled Self-Balancing robot. I know how to interface MPU 6050 ad I know the algorithm for self balancing. I haven't started hardware implementation but I am in a confusion. My problem is how can I make this robot go forward because when the robot goes forward the robot will tip over right? and also what is the significance in using motor shaft encoders in this project? Hope you could help me

James A Mohler
  • 11,060
  • 15
  • 46
  • 72
Vishnu Divakar
  • 129
  • 6
  • This is another example of a software problem that could be solved with hardware; you could tie helium balloons to your robot to keep it upright and balanced. Good luck finding a simpler answer. – Andrew Oct 19 '15 at 19:03
  • 1
    I'm in no way an expert on the subject, but I suppose you would have to throw the robot off-balance in the direction of planned movement, and then make it go in that direction to counteract the rotation towards the ground. – user622505 Oct 19 '15 at 19:05

2 Answers2

1

I don't think encoders can do better than gyroscopes and accelerometers. Their control is too much sophisticated. You have to count on a good accelerometer control algorithm to make it balanced.

As Lasooch says, you must unbalance the vehicle towards the direction you want to go, and then try to maintain this angle for the time you want go in that direction, then re-balance the vehicle to make it stop.

Sergio Internicola
  • 372
  • 1
  • 7
0

You make the robot move in the desired direction by adding to your setpoint. Then when you have arrived, you reset the setpoint back to the normal balance point.

James Demello
  • 1