Balancing robot final year project

[@fl4650]

The best one yet! Very thorough video showing the details of operation. I loved it and was mesmerized by the end. Must have taken a LOT of hard work.

[@CaraAmar]

this is the true of DIY, not like the other.. other ppl are buying a sainsmart kit, assembly in 30 minute and play it, and they said that's DIY (LOL) sry for bad english, good job! pls, keep doing your great job, i like your video!!

[@jiffylib50]

Wow that thing is calibrated so goddamn well. Truly awesome job man :)

[@rallekralle11]

that there is one awesome little robot. and one awesome guy who somehow managed to build it. i hope i'll be able to build a controllable self-balancing robot some day... but for now i'll just have to keep 3 wheels on the ground.

[@maksvl8366]

I apologize for my English, I write through the translator. Awesome and amazing! I am shocked by what he saw, to achieve such a huge job.

[@zohaibamir1252]

with that sort of PID understanding and filters you could make a quadcopter like a dead stone in the air...

[@ranulfo102]

CARA VOCÊ ESTAR DE PARABENS, SEU PROJETO ME SURPREENDEU. PARABENS MESMO. SEU PROJETO FICOU DEZ, AGORA PRA FICAR MIL, SÓ FALTOU UM VÍDEO MOSTRANDO TODA MONTAGEM E CONFIGURAÇÕES. FACE YOU LIVING CONGRATULATIONS, YOU SURPRISED ME PROJECT. EVEN PARABENS. YOUR PROJECT WAS TEN, PRA NOW BE THOUSAND, ONE MISSED A SHOWING VIDEO INSTALLATION AND SETUP ALL.

[@МаратКа-б1в]

Through your project, I began to build like a robot! Thank you for the hidden ideas that are viewed on a video.

[@angelsanchez2092]

As you did to eliminate noise from engines and common ground for the accelerometer.

[@scootergem]

That's one nice robot you have there. Very good job.

[@zPauLoma]

Great use of inverted pendulum control system, you inspired me.

[@fekete123]

Thank You! I'm happy to hear that!

[@mixingmusicvideos]

help me with the complete diagram of the receiver and transmitter plis

[@ricardobarreto8541]

Very interesting design. The people who did not like it are because they are envious. Congratulations

[@slavric]

Fabulous job. Really enjoyed watcking :)

[@izzatsbaakhi5255]

good job i was wondered about the mathematical models and analysis for the robot, and the final report, please if you can attach them you will make me a favor

[@AYR53]

How did you tune 8 parameters? Can you descirbe the process also?

[@SequoiaAlexander]

Looks good! FYI you can get more stability by mounting the battery higher up. A higher center of gravity makes balancing a pendulum easier. :-)

[@fekete123]

Yes you’re right. Actually I tried that setup in an earlier version (see my other video). But I wanted to try it with different payloads. So, I needed that space in the top. But now you mention it, maybe I place it under the top plate upside down.I can raise the centre off mass with that. Thanks!

[@SequoiaAlexander]

Either way its an excellent build! I've never gotten around to building a balancer myself. Keep up the good work. :-)

[@dineshcondur]

Awesome ! Dont get to access the link to the complementary filter!

[@atiqurrahmanakash6470]

Hey +József Fekete can you please upload a tutorial how to make this thing? I mean the hardware making the implementation of code. I want to make something like this.

[@okboing]

Is that... Is that a drill battery?

[@Andreotti1001]

Great job man.That's really well done!

[@DARSHANCHANDEKAR]

hi Jozsef, this is really coooolllll.... i have few questions for you if you like to answer, questions could be not related with this project of yours.. 1. the robot yuou have build balances only when the power is on or otherwise also..? 2. do you know Gyro Tech. is that also works only when the power is on or otherwise also? 3. is there any such module where one can fix heavy things on the wheels and it still doesnt fall, like the Gyro Bikes.. thank you for your time

[@SirArghPirate]

So you're running the entire code and all processes on a single microcontroller? I'm currently working on a similar robot with encoders but was thinking the microcontroller wouldn't be able to handle the encoders at the same time as running all the other processes PIDs (for position, velocity, tilt), filters and sensor processing. Do you know the actual looptime?

[@marcosinfante8773]

pretty good job. Its amazing!!

[@edustroide]

Hello, my name is Eduardo. I am Brazilian engineering student. I'm sorry for English ... But I'm in the eighth semester of engineering, and how accurate term paper delivering a control system using PID, like much of his work and wanted to use the system that you used without remote control, only the inverse pendulum. Could you help me with this project? Unfortunately I do not have much time, because this is a complementary project and have others who have to deliver that is rated as a discipline and still have the TCC (completion of course work). I would be grateful to receive your help.

[@C.L.Hinton]

Nice! I hope you got a great grade on this project. I came here from the Captain Disillusion QuickD video of the Method Robot.

[@vitoraguiar5105]

Hi, and let me tell you that this is far away, the best self balancing robot that i ever seen. Fantastic. I am trying to build my self balancing robot in python but the tune of the controllers is crazy. I have 3 controllers: Position, Velocity and Angle and is taking too much time to find the right values. Maybe i am doing something wrong. Can you send your report? It will be nice to read your work.

[@eduardoyuren5908]

One question, the height influences the calibration? I mean you did so for more stability of that size? or small work? Currently I have trouble stabilizing mine :(

[@dx_logan]

Hey, i am doing this project for my final year course and i would like to know a little more about it, like the full material list, ect..

[@nosknut]

Those motors are amazing! How did you make them so powerful!!!

[@jakubblokesz3017]

Nice robot. I only don't understand how do You calculate velocity in the function odometryCalc? I think that rOdometry->filtVelocity is still position. Velocity is the difference between actual position and previous position. Am I right?

[@fekete123]

+Jakub Blokesz Hi! The variable filtVelocity is the filtered and averaged value of the two encoders, and this is the speed(velocity) of the robot. encoder1 and encoder2 are the current readings from the encoders. If you read your encoders every second and let’s say its value is 10 unit then your position is changed with 10 unit compared to your last position, and your actual velocity is 10/sec. If you sum these readings then you get your actual position compared to your starting position.

[@cameraman106]

From a long time I didn't wait to watch a video till the end, great work and good luck one question please, How the robot know it position to stick to it ? means if you forced it to move to another position it return back to the same position with the same orientation

[@fekete123]

Hi and thanks! The key word is odometry end rotary encoders. The encoders measure the rotation of the wheel, so you can predict the distant that the robot travelled. And if you know the diameter of the robot’s wheels and the length of the shaft, then you can calculate the orientation of the robot. When the robot stops moving, the program stores the actual position and the orientation into a variable. If I force it to leave this position, more than let’s say 20cm then the robot starts to travel back along the X axis to the home position, and then make turn, and travel along the Y axis. And in the end it turns to the original direction. I found this video. I think it explains the odometry more then I can. 2.3 Odometry | Control of Mobile Robots

[@giusepparomano6168]

hello I might have to do the connections between the cards ? thank you

[@laurentmaillard1355]

Nice job 👏🏻👏🏻👏🏻 Very efficient ! Congratulations

[@williamhuang5329]

Hanzhen harmonic drive gear , strain wave reducer, robot arm joint , over 30 years experience

[@zapper1000x]

really cool robot!! can you please explain and put up schematics?

[@辛孤达]

why not make more videos to share how made it

[@marinflorin-adrian7227]

hello, i am new to this stuff... can you please put a schematic with the connections of the microcontroller and the sensors beacuse i can t realy tell how they connect?? Thanks !

[@calcio437]

5:31 Minecraft suond

[@JohnSmith-py3vx]

I also am looking to build something similar and was wondering, how much torque do those motors have? I like that yours is fast and seemingly very stable, and I want something that can provide good speed. 5mph would be fantastic, but I have my doubts as to whether I could make the bot perform a sudden stop. Currently, I've got my eye on some 30:1 geared motors from Pololu (pololu.com/product/1443) that are 350rpm 12v 5A stall current. Hopefully they would only use about 1.5A of power and I could just use a cheap dual h-bridge because most should handle 3A if they are heat sinked well. Thoughts on this?

[@fekete123]

I don't have my motor's datasheet. They are very old. There is a name on them "Shinshu Seiki". According to WIKI It was epson's name but they changed it in 1982 :) I'm using a 9V battery and never measured more than 1.5A. Your motors looks fine to me. Speed will depends on your wheel diameter, and stopping with high speed always be a problem if your motor's work close to maximum RPM. I never seen any "fast" balancing robot. Even the segway's max speed is only 12 mph.

[@crockett616]

Cool project. Can you explain how the robot works on inclined surfaces, how does the algorithm handle that? Did you have to work a lot to get that to work? I dont really understand PID and I thought it would be difficult to use the same settings for incluned surfaces as for flat.

[@fekete123]

crockett616 Hi! My robot uses a PID controller to calculate the PWM for the motor controller. It needs a measured angle (from gyroscope and accelerometer) and a requested angle. The requested angle can be calculated in different ways: If you want to keep the robot’s position on a flat surface, you only need the distance from the position, and the actual speed of the robot. These can be measured with a wheel encoder. As the distance increase from the home position, the requested angle increases too. Because of this the robot starts to accelerate to the home position. And in the same time as the speed increases, it will decrease the requested angle. This is basically a PD controller. If you also want to balance on an incline surface you need a different approach. The distance from the home position gives a requested speed. (rSpeed = posKP * pos) This gives input to a PI controller, which calculate the requested angle. So if my robot starts to balance in an incline surface the following happens: The robot start to move to the bottom. The distance from the Home position increases, so the “P” part of the PI controller starts to increase the requested speed. After a while the robot stops. But we also have an “I” part witch increases over time. This integrator part helps to the robot to come back to the home position. Of course it leads to a problem that called integrator windup, but it is a different topic, too long to explain. Basically when my robot is traveling with a constant speed on an incline surface and reaches the top, the “I” part still need time to decrease so the robot accelerate until the integrator part reach 0. I used some anti windup method to compensate this.

[@kimhuynh6672]

thank you very much József Fekete!

[@loves2study]

+József Fekete i am working on a similar project. What are the dimensions of the bot ? As they'll affect the centre of mass and stability.

[@cresenciohernandezrosales271]

Thanks a lot to share your detailed knowledge.

[@alimahmoud8708]

Great project man, one question though: What were the criteria used in evaluating the control algorithm?

[@Kicsicsikar]

Nagyon ügyes vagy!!!! Gratula!!!!

[@notabjpitcell_thinkuniquel6358]

Pls send all details all circuit diagram,connection, component list ,code n if possible layouts too,pls

[@namvu8078]

Hi, i want to know how to make the robot turn left and right ? Thanks !

[@Leon-pn6rb]

Hey I have one request and one question. The question is , is it possible to control it from a android-mobile device? I know JAVA , so is it possible to control this from an app? The request is that I , and so many others , would like to know how you built it! A step-by-step video or a written article would be awesome! I am in my 3rd semester of CS , and if I even made 50% of what you have , I will be happy with myself! I am not a genius like you , so I need a bit of a help . I hope you read this and have the time to make this happen! Thanks a Lot!

[@npetrenko97]

+12345a I want to tell you some hint about rc control over a phone: you don't really need either build-in hardware nor complicated usb devices. You can build a simple board to connect it through 3.5mm jack and control it just playing audio files and them decrypt them on your board and transmit to the controlled device

[@adityabastapure451]

Have you got any documentation, I also need it Please reply if you have it [e-mail]

[@aliguzel2247]

i want make with analog system(op-amps), how i do ?? I make one with just PI, but not balancing :/

[@AnnaëlleD]

Excellent! And I like the final dance :-D

[@davinderc]

What control scheme are you using? I hear a lot of people seem to use a two-stage PID.

[@szegediomaguszoltan7862]

Gratulálok, remek munka!

[@sunilthakur.4063]

Please make a video on making it

[@OUACK3]

Hello and a happy new year. I would like to ask you some things about your project. I have something like that to build for my Master and Iam new to Arduino. Iam about to use PID controler, but Iam having hard time to make my tech list, and the most importand of all which Arduino Board should I use. I know Iam a stranger but I really need some help here. Thanks again for you time

[@ashishinus]

May I know what kind of course you were going for? I don't see any of these in my major lol or see anything other than elec engineering students doing it. Cheers!

[@pablofernandogazitua]

Excellent project! You have the algorithm for calculating the balance of the robot? I see that you do not use potenciomentros for pid, correct?

[@kimhuynh6672]

can you tell me how your robot can balance when it is on the inclined surface. And i can see your code.thank you!

[@fekete123]

I used a PI controller for positioning, and a PD controller for balancing. These are in the Balance.h. The positioning PI gives a requested angle to the balancing PI based on the requested speed. When the robot is balancing on inclined surface, the requested speed changes based on the distant from the home position. (You can find it in the AttitudeHandler.h) If you only use a simple proportional component, then you always have a small distant from the home position. The Integral component solves this problem. You need some necessary steps to handle the integral component called anty wind-up. With the use of euler angles balancing end turning in inclined surface is more easier I'll give you a link from the code, but unfortunately the comments in it are written in hungarian, so you have a very hard time to understand it. Sorry about that. You can find the Atmel studio folder of the robot's code here: www.dropbox.com/sh/fjjwcn1w03x88dm/Rq8s9v_2Hw

[@kedarpednekar1518]

whoaa, perfectly working . nice bro

[@x99971v3]

Dear József, Great project! I am trying to do the same with an Arduino Mega 2560 running a real time operating system, namely freeRTOS. I got a solid computer engineering background, but little knowledge on mechanics and control. Could you post a link to your final project thesis? I would also apreciate if I could consult you now and then about my project. Regards, Raphael

[@markuskus01]

Excellent job dude! What resolution have the encoders?

[@ArthurFeriottiRosa]

Amazing job! Thanks for sharing

[@ramkumarbisani1058]

can you suggest any encoder other than this

[@premagdgopal]

pls make a video on how did you made it plSssSsssssssS

[@saisindhumadicherla3098]

hi sir.. it is a wonderful job... can i knw how the connections are made and how the components are connected?plz help me out....... Thanks in advance

[@RovanRCTube]

Now add tracks instead of wheels

[@chaoxi8966]

Sir, could you recommend a place to get all the necessary parts for this project?

[@adityabastapure451]

Have you taken PID values on trial and error basis or is there any method of calculating it. Please reply.

[@fekete123]

Aditya Bastapure Trial and error. The basic method is: rise P until the system start to oscillate, then rise D to smooth it, and then rise I to bring it to the desired point. You can recognise the oscillation and the smooth effect on the balancing when you change the values, but not too crealry. It was a long long proces to understand what I doing.

[@MrCoillote]

Dear József ^_^ I'm interested by the complementary filter infos, but the link is dead. Can you provide another ?

[@fekete123]

d1.amobbs.com/bbs_upload782111/files_44/ourdev_665531S2JZG6.pdf

[@noelromano2649]

hi sir! first is it's an amazing job you did with this project. we are doing this project as our final thesis...and honestly we don't know a whole lot about it. :( and we are really short on time. we were planning to buy all the materials needed, if you could please reply to my comment and i could get a list of all that is needed that would such be a great help for us. we live in the philippines, but in our area we do not have abundant supplies of this kind of parts. we already got a arduino uno for our main board, just want to ask for what type of gyro, servo motors must we use? i'll be waiting for your reply. thanks again!

[@fekete123]

I don't used servo motors, just bought a motor controller (Pololu TB6612FNG) and 2 old DC motor. If you have the money then you could by a geared DC motor. When you choose the motor controller it should have PWM control and you need to pay attention to the DC motor and motor controllers current. For proper positioning you also need encoders. Some motor comes with built in encoder. Or you could built your own from an old ball mouse, but it could be complicated. www.boondog.com/tutorials/mouse/mouseHackBeforeWeb.htm gyro accelerometer: mpu-6050 It has an arduino library. remote control: TTL-bluetooth converter (there are a lot on ebay they basically all the same) Other parts comes from old toys. If you search youtube there are a lot of video with the list of the parts in the description like this: Yet Another Balancing Robot (YABR)

[@noelromano2649]

József Fekete are they the same? dc motor or servo motor? if i use servo motors will it make it easier to build? and if supposedly i use servo motors instead of DC motors, will i still use/buy a motor controller? what are the parts used solely for it to balance itself? sorry for the abundant questions i just really need some help and thank you so much for giving me infos regarding with this project.

[@fekete123]

Noel Romano You can use CONTINOUS servo motors, they are different from a regular servo. If you choose continuous servo motors then you don't need a motor controller. You can control it with your arduino via PWM signal. The parts you need: Arduino (note that my code don't work on an arduino) Servos (pay attention for the motors RPM, you don't want a 15 RPM servo) gyro and accelerometer MPU-6050 are perfect. With these you can able to build a robot that can balance for a while. But if you want it to balance properly than you also need encoders. This forum contains lots of good ideas and there are bunches of arduino code you can download. forum.arduino.cc/index.php?topic=8871.0

[@noelromano2649]

József Fekete thank you very much sir for your much needed help.,we will try to incorporate your advices to our project..,thank you very much! i'll comment or pm you here when with regards to the progress in our project, if in case we would have questions.,thank you again very much!

[@noelromano2649]

József Fekete sir gud day!.,can i ask for what RPM in servos must we buy? would 10 RPMs be suitable?

[@logixindie]

The trigger must be taken from a console controller xD

[@simar_live]

why not u considered using stepper instead of dc motor. pros and cons?

[@simar_live]

also cuz the pwm decreases the torque of the motor while dats not a case in stepper

[@yasserkamah4054]

What microcontroller did you use for that?

[@simonboulin3970]

Wow, man! Fabulous! I need to make one with arduino

[@preetikamondal5463]

can I use l293d instead of tb6612fng?

[@Rahul2011ify]

how you fixing the position??? is this by ball mouse??? or Gps???

[@fekete123]

+Rahul Mitra With the ball mouse. (encoders)

[@wolodymyr1996]

+József Fekete oh. Thank. Nice robot. I want make same :)

[@lordcrunk4790]

Awesome, any plans on making a TARS robot?

[@123wga123]

Hey dude, what's up?! I'm developing a robot like this and I wonder what the real use of encoders in the wheels. Are they basically used to find the direction that the robot is walking? Do you have an article or paper published so I can base myself in it? I am doing a final year project about it and know that your work will be a good bibliography! I will quote and destine the credits to you! Thank you so much!

[@ranganajayasanka7223]

didn't you make a model for the system?

[@alexk6745]

Brilliant !!! Welldone !!!

[@meriemzaitouni5132]

can we get the source code (in MATLAB) of this?

[@arpitpatel5943]

can u upload the image of controller in english on dropbox ?? by the way great work.

[@fekete123]

Thanks! I uploaded it. The controller is based on this forum post: forum.arduino.cc/index.php?PHPSESSID=k03q8vitgfslq7l8g7e992fq35&topic=8871.msg74126#msg74126

[@arpitpatel5943]

Thank u

[@Itnecap]

wow incredible !! where do you come from ?

[@stub1116]

That video was awesome!

[@rosellersumonod5975]

PID?

[@condronugroho852]

Good job. It's amazing. (Y)

[@Skidmaster180]

awesome dude, do you still have it ? :p

[@ProSportsResumes]

Phenomenal Job!

[@FrankLopezx]

Hey maybe you can help me on my project , I'm new to programming so is quite a lot to take in ,

[@seollespa9211]

How can i open the .lay file?

[@koz]

Incredible. Amazing.

[@付文超-q1g]

The link to the source code is invalid. Can you please update it?

[@JiljoKMONCY]

Hi Is there any book where I can refer for the algorithm

[@fekete123]

Hi! I used this book: www.cds.caltech.edu/~murray/courses/cds101/fa02/caltech/astrom-ch6.pdf

[@matarloum2894]

Would you share the code ?

[@rahulprajapati5202]

Sir Please send me the circuit diagram of your whole project...please

[@preetikamondal5463]

have you used kalman filter?

[@fekete123]

No. Complementary filter check this: robottini.altervista.org/wp-content/uploads/2014/04/filter.pdf

[@preetikamondal5463]

okay, thanks man! Also, what did you use the ball mouse encoder for?

[@fekete123]

+preetika mondal To measure the rotation of the wheels. It helps balance the robot.

[@preetikamondal5463]

+József Fekete can you please tell me how exactly did you measure the rotation using the mouse ball?😅

[@fekete123]

It is a good explanation: www.boondog.com/tutorials/mouse/mouseHackBeforeWeb.htm

[@rahulprajapati5202]

hey brother can i buy this robo from you...... plz comment

[@mahmudistiaq]

why do I need encoder?

[@prembaranwal2008]

awesome. enjoyed watching.

[@wheeldood6130]

Really cool project