Codesys Powered Self Balancing Robot

[@RageForSeven]

cleanest, most "adult-like" built that i have seen, and was hoping existed!!! well done!!

[@shrine2975]

Bro I am feeling jealous by this accuracy. I am currently making a Two wheel Self balancing Robot as my Final Year Project, but mine is nothing infront of your's. Awesome work.

[@vittorioscialla]

Best implementation I have ever seen. I think nothing better can be done.

[@88_WLE_88]

thanks but it is too kind :)

[@Someone-jf3mb]

This is the definition of SICK. Good job man

[@88_WLE_88]

Thanks! :)

[@YuffX]

BOSTON DYNAMICS how it was meant to be

[@samykamkar]

Awesome!

[@88_WLE_88]

Thanks:)

[@fahadahmed480]

I know you, you are a awesome hacker

[@FarmPrepper1]

gotta love working with the brains. beats the tube every time!! Keep at it, you gonna get where ya wanna be!!!!

[@gazelle1467]

this walking coffee table makes me feel inadequate

[@yuzhenning]

Great work! I am also considering to make the balance robot controller experiment. It will work as a part of my phd thesis.

[@sufiansiddiquee]

This is The best self balancing robot ever.

[@fahadahmed480]

I've never seen that much responsive self balancing robot

[@apratube]

i smile when you tested with glass of water.. nice one.. :)

[@ameeralmaliky6099]

Respect , my friend 👏👏👏

[@antonnpn9063]

Make it jump:)

[@integrationofmanandmachine4714]

Anton Npn no

[@jimmorrison2657]

Amazing work!!! The ultimate would be a sitck with a roller ball at the bottom!

[@fxrodriguez9146]

That's a great machine you've got. Very nice work.

[@lkjhyubn]

Very nice! Do you think 1:30 Pololu motor would work? I have trouble sourcing the 1:19 locally. Or would it be too slow response?

[@88_WLE_88]

lkjhyubn Hi thanks. I'm sure it will work. Your robot will be slower but more stable on lower speeds as you will have more encoder counts per wheel revolution. Good luck.

[@dinhotech1831]

Very cool, better than I've ever seen, and teach him how to do it step by step, thank you.

[@knowall5792]

That robot's loyalty is second only to R2D2. Just give him some dress. Or you can make him your body guard!

[@88_WLE_88]

Haha:) I was thinking to make something big enough to ride on it:)

[@jothain]

Wow, that's awesome setup and so well configured. I wish I'd have enough time to learn in so much depth. But I'm just curious industry mechanic struggling to get into codesys and raspi to do some very basic automation stuff for myself.

[@kiranshashiny]

Very Very skilled robot. Stop and starts are good.

[@88_WLE_88]

Hello So, after a number of years, and tons of questions from our fantastic community, I've finally taken the step forward and crafted an E-Book all about Self Balancing Robots. If you're interested and want to support my channel, please have a look at it here: wickedlabelectronicsshop.store/products/ebook1 As a way to say thank you for all your support, there's a little surprise waiting for you inside. PS There are some updates to a channel, and some major updates to a robot itself on the way! :)

[@dhamirhanif1406]

great work .. did you ever try to use fuzzy logic as a pmw output controller ?

[@88_WLE_88]

Thanks, nope.. to be honest..

[@maze42d]

This is better than any other RC car 😄

[@88_WLE_88]

:D Thanks Daniel !

[@yanadoodle6065]

does it balance when it doesn't go anywhere and does it have some kind of sleep mode. But I realy like it and I see it as a robot what I would realy like to see on the shelves

[@88_WLE_88]

Hi thanks, yes it does but.. those motors have quite a bit of backlash so it will constantly balance from one side to the other, with a bigger wheels (new video) this problem is even more significant..

[@LeON.DMI.2088]

Super Łukasz :D Chętnie bym posłuchał jak o nim opowiadasz.

[@88_WLE_88]

Hej Kamil kope lat:) nie widze przeszkod!

[@Debraj1978]

Hello, your creation is amazing. Did you use 2 sensors - - acce-Gyro + encoder? What control did you use -- PID or PI + Lead compensator?

[@88_WLE_88]

Hi, Thanks. For angle calculation MPU6050 has been used. To have good angle feedback you need to combine both Gyro and Accelerometer data ( in this case in Complementary filter.) So angle data is passed to balance PID which should maintain the set angle of robot. To control the movements of the robot , actually we need to control this angle reference point. So to do that there is second controller ( this time PI). It's input value is speed of the motors ( obtained from motor encoders and filtered by Kalman) and it's output is set value of the angle of the robot ( the one that is feed to balance PID as reference point) So it's a closed loop of two controllers with two filters basically.. Hope it make sense.

[@Debraj1978]

Ok, got it. My idea was slightly different. I know that you can avoid lead compensator etc, by using cascaded control (using PI). But I thought that you have 2 loops -- the inner control loop, which controls the torque generated by motor (torque is easier, as torque of motor is proportional to current, which is easier to measure; versus speed, which may need encoder). And external control loop, which maintains the angle to be 0-deg deviation from vertical axis. External control loop, based on the error (measured from MPU6050 + complementary filter) calculates the required torque need to be put on the wheel, which will then drive the motor. The inner control loop just makes sure that the motor is generating the exact torque needed. The modelling can be done with speed of motor as well, but for any system, the speed is decided by the mechanical inertia/ friction. But if we model as torque (or force on linear movement), the mechanical system is not considered and hence, lower order system. BTW, I have MPU6050 and board etc at home, but I am running short of time to work on this project. My long wish. I will ask you queries once a while, which will give me a better plan of action.

[@88_WLE_88]

Hi, this is interesting approach, (measuring current to assess torque and control it) but I think that in this case you do not have 'real' feedback of speed of your robot. And if you will decide to move your robot forward, you will need to put it to 'out of balance state', you will need to set it's angle to let's say +10deg. So your robot will lean forward and start to move to keep that set angle. The problem I can think of is : it will constantly accelerate until the point where it will reach maximum motors speed and eventually fall down. The same situation might happen when you will decide to put it on non flat surface.. Hope I did not miss anything from your post ( correct me if I'm wrong) Thanks!

[@gyaanvigyaan1349]

🎧

[@FarmPrepper1]

G'Day my friend. This video is still the all time favorite. Have a Blessed Day!!!

[@zeshuili5482]

Hello，I wonder where did you got the wheels, and how can I google the wheels？ Thanks very much.

[@88_WLE_88]

zeshui li www.banebots.com/SFNT.html check this website.

[@questionmania2191]

Impressive control.

[@nischalsehrawat2130]

Hi Lukaz what logic do you use for turning? I am a bit stuck in this part. For balancing both wheels move in same direction, but for turning they move in opposite directions. How didi u do this?

[@javalin597]

Hey man! This probably seems like a rudimentary question, but What kind of communication protocol are you using to communicate between your microcontroller and RPi to actually steer and drive the robot? My original idea was to send velocity and steering angle bytes over serial in a differential steering setup, but that would prevent me from being able to pivot like your robot can. With that said, is standard serial even the way to go, or would it be easier to use one of the two-wire flavors like I2C?

[@88_WLE_88]

Hi , Actually I'm using I2C bus to communicate between Codesys (Pi) and Teensy micro controller. All I'm sending to Teensy is PWM requests for each motor. Teensy in this case works as wheel encoder interface and PWM generator for a wheel motor controller.

[@3amali1]

Amazing work,, you deserve a big thump up

[@younesalissa3144]

Hi Lukasz ! I wonder what kind of controllers did you use ?... I mean did you need to use any kind of non-linear controllers such as sliding mode control for example?? l

[@88_WLE_88]

Hi , nope it is just normal PID control...

[@1DiscipleDragon]

It's like those e-scooters!

[@julenlaskibar5409]

Brilliant! Congratulations!

[@cinarsinan]

How a human being dislike this seriously some people are really jerk Awesome project my friend

[@Techie499]

is using a Stepper motor instead of the motor a good idea? just asking

[@miphone8115]

Hello, Did you have to worry about the center of gravity of the device? I was told that for the robot to move forward easily, it is best to have the center of gravity below the wheels. Thanks.

[@88_WLE_88]

Hi, Hard to say for me as my robot has all heavy elements as e.g.batteries on the top of it.. I did not try to re-organise mass of the robot ,so I do not know how it would behave with different center of gravity point.

[@miphone8115]

Thank you. There is something that I don't understand about the PID Cascade. You said that the first PID takes velocity inputs and outputs an angle that is fed to the input of the second PID. How do you get angle output from velocity input? Is there a formula for it? Thanks.

[@88_WLE_88]

Mi phone. Well it is all about scaling of input signal. PI controller output value limits works as max output angles. How quick robot will reach them depends on input speed value and Kp And Ti settings of controller.

[@miphone8115]

Lukasz Bien . Thank You.

[@apiffautube]

Hi Lukasz, do you recall the motor's torque? Specs change frequently, that's why I ask. Thanks, best regards, Alvaro.

[@88_WLE_88]

Hi Alvaro, sorry I do not remember precise torque value fot those motors...

[@yotubewatcherhalo]

Remote controlled hover board cool

[@Renan834]

Congratulations on the project! Are you using stepper motors or Dc motors?

[@apiffautube]

Hi Lukasz, congratulations on your project, just awesome reaction to control & stability, amazing. Would like to follow discussion below to further understand as I am doing mine in Arduino in my case but finding your general approach what makes your project wonderful. Following your response to Deb below, aren't you also taking your robot ´out of balance state´ at least for a while for moving forward or backwards, by the means of changing the set angle to for example +10° on the PID for at least the time your RC indicates it to be?. Isn't it necessary when moving forward with say 10° to constantly accelerate a=const (speed increases) to keep it from falling?. The other question is about braking. I figure out that you need to accelerate for braking. I mean you need to accelerate to achieve set angle=0 (from angle=+10°), to achieve a slight negative angle next, to react and reduce speed.I also noticed that when you push it yourself the robot leans back to react too. Thanks in advance. Regards, Alvaro

[@88_WLE_88]

Hi Alvaro. Thanks for kind words. The speed PID controller is taking care of set angle for balance controller. So if there is a command to move forward with some set speed, speed controller is setting its output to angle limited to max or min value (accel angle) and when this Speed PID receive confirmation from encoders that robot achieved that set speed, it adjusts the angle to keep that speed steady. The same situation is when robot is pushed. Current set speed is 0 and when PID controller will detect the movement it will adjust balance set point to decrease speed.. Hope it helped :)

[@iliasilisparrow]

Hello, I really liked your project ! It's really stable ! I have some questions, Do We absolutly need a Kalman filter ?Or others can do well enough ? Where did you put your sensor ? The highest, Lowest ? or not important ? What is you level of study ? Have you finished ? From youru point of view at wich level do should know how to make this kind of robots (for EE) ? Thank you in advance !

[@aidatifola]

Hey Lukasz I'm about to finish a similar project but have some problems with the i2c between Rpi3 and arduino uno. - In which frequency you've set the i2c clock? - and do you use a level shifter between them?

[@88_WLE_88]

It is 400kbps, you need to be sure that all wires that you use are as short as possible.. and maybe some shielding? ( but there is none in my case)

[@Anton-sz6ef]

I am going to buy a Raspberry Pi and this will be my first experience with one. I will build something similar!

[@88_WLE_88]

Good luck!

[@Anton-sz6ef]

@@88_WLE_88 Thank you!

[@henrylopezc1958]

Excellent job! Based in your experience, where do you suggest to locate the MPU, at the top, middle or bottom position? Where can I find some guidance about kalman filter applied to this case. Thanks in advance for your time

[@88_WLE_88]

Thanks, Well In my case it is located on the very top of the robot and as you can see it works quite well ;). You can find good info about kalman and filtering encoder signals here: pe.org.pl/articles/2012/2/69.pdf

[@umairashafq9912]

do you have any page or web where you have shared any kind of schematics or sketch for this bot ? i want to do it as my semester project ...

[@ankulek07]

How you tune your PID controllers? Did you first ensured stability of inner loop? How robot works without outer loop? Jak stroiłeś regulatory? Zapewniłeś stabilność najpierw wewnętrznej pętli? Czy robot działa bez pętli zewnętrznej?

[@88_WLE_88]

Mainly Ziegler-Nichols method has been used, especially for balance PID.

[@jackwilkinson7752]

Beautiful design man! Why did you go for using a Rasperry Pi with Codesys and not use an Arduino out of interest?

[@88_WLE_88]

Thanks Jack, Well mainly because I use Codesys as my day to day job tool, and decided to do something just for fun with it ( for a change ) :) . BTW personally I think that Raspi and Codesys is a brilliant connection. :) cheers

[@chanhyeokson7234]

Great work. it seems you did on purpose but it would be better if parts are placed in where the center of gravity is low.

[@kitt28]

you say its hard to go up a incline, will it be better if the motors had worm gears?

[@88_WLE_88]

I think it's more about low gear ratio than backlash... those motors have quite small torque at low speed so higher gear ratio should help in this case (but I wanted to have a quick one :) )

[@kitt28]

I hope you do another one, I will like this to help you out, I want to build some in taller to bring things to me like a drike

[@SteJuMusic]

Hello This is an awsome project. I am using also codesys to create an self balancing bot. I have two videos in my channel. But my cycle time was massively reduced by using a slow MD25 double H-bridge. Around 20ms per cycle, faster is not possible.The speed was reduced by the manufacturer to protect the plasic gears inside the used motors. What kind of motors and motor drivers are you using in this fast reacting robot?

[@88_WLE_88]

Hello You will find all the info in 5th second of the video. I'm using Teensy to generate PWM signal that is passed to H-Bridge and it is quite quick...

[@SteJuMusic]

Thank you for your fast answer - So i didnt recocnised the hardware description in your video:) So using teensy to generate the PWM sounds great. Is Codesys on Raspberry to slow? Interval Times of 1-2ms are possible, i used them in my PID task.

[@88_WLE_88]

Hi, yes definitely it is too slow for PWM control for DC motor...

[@luqmanprasetyo9698]

Bro, what reason for consider using nano for rf communication, and teensy for control motor? Seems these could be handled by one raspberry pi bro

[@88_WLE_88]

Codesys is the reason :)

[@annaclickgift5430]

Lukasz thank you for your help!👍🎀

[@totoxahc]

Hi, very nice man. Can you elaborate on how you used the kalman filter for speed control?

[@88_WLE_88]

Thanks, Well in this case is a 'simple' version of Kalman ( one dimention ) which needs to be set properly for particular application. I can recomend you this document : pe.org.pl/articles/2012/2/69.pdf I have built this filter just using info from this pdf. good luck.

[@MuhammadUmar-xj9bj]

Lukasz Bien what's about version of kalman filter in case of cotrollering both pitch and role i.e i am using it in ball balancing robot. Thanks in advance dear.

[@emipop21]

Neat work Lukasz! Have you made the webinterface for controll yourself ? If not, can you share where we can find it? Thanks.

[@88_WLE_88]

Emanuel Pop Thanks:) the web server is a feature of Codesys system. Which is brilliant solution as you have access to all data from your project..

[@paugasolina5048]

wow the controller is so good lmao

[@kalitakhoulita3379]

hey, I just wanted to ask about the the code did u use matlab or arduino or both to control the robot (becasue I think that arduino only is not enough to control the robot )

[@88_WLE_88]

Hi. It is a Codesys and Arduino. (Main control role has Raspberry with Codesys.) Arduino/Teensy is just as hardware interface between raspi and outside world)

[@kalitakhoulita3379]

thank u very much for answering my question I am using arduino like a microcontroller and matlab to calculate all commands so my question is deos arduino able to execute the matlab code ??? thanks again for giving me from your time

[@TheCentaury]

And now make the same robot but this time with a glass full of liquid on top of it and that the robot make sure the glass is always balanced but also that the robot counteract inertia so that no liquid spills out of the glass.

[@primodernious]

how much code space is left on the device?. is this a microcontroller or a motherboard?

[@firstsecond8999]

Great. I wish you could make a single tyre robot

[@ngoctuanpham3110]

How does your robot work on the sloping surface?

[@ngoctuanpham3110]

this is my balance robot. kzbin.info/www/bejne/fZPGqnSmbrlrrbs

[@thaddeusng2241]

Hi, your project is very impressive. What were the size of your wheels in this video? I am starting a new self balancing robot project and am wondering if the size of the wheels will affect the results. Thank you!

[@88_WLE_88]

Hello, thanks. Well. I think something like 6-7cm (diameter) Size of the wheel will affect your project. The bigger the wheel , the more torque will be required to move your robot. And if you have some amount of backlash on the motor, it will be more significant when wheels are bigger. Hope it make sense.

[@thaddeusng2241]

Yes, it helps. Thank you once again

[@vickylance]

Is that a normal DC motor or a stepper motor?

[@johnp97ortizsuarez]

Thats great! Please make more! I subscribed😁

[@priyankajain-fb1bn]

how did you adjust pid gain values? mine is just falling in one direction and trying to balance in the other direction. thanks in advance

[@88_WLE_88]

The good starting point is assess PID values by one of methods that are available. I have used Ziegler Nichols tuning method. But balance PID is one thing, the other is to have usable signal from gyro and accelerometer. (see my other video) Without good angle feedback It will be difficult to tune up PID controller...

[@Toolooa]

Can it get up if u kick it from the side?

[@Pauluz_The_Web_Gnome]

That's all pretty funny, but the question is: Will it blend?

[@kubacrx]

Good job mate ! :) greetings from your best cousin :D

[@88_WLE_88]

Hello my best cousin! What brought you to that strange part of KZbin ;)?

[@kubacrx]

Lukasz Bien my father share You :)

[@88_WLE_88]

OK OK enjoy! :D

[@FarmPrepper1]

WHATS the song playing? cant see it on my phone... ugh..

[@88_WLE_88]

Heading West Audionautix ;)

[@FarmPrepper1]

Lukasz Bien Most excellent indeed. I'm thinking it would a good tract for one of my aerial videos. My kinda music. Be Blessed and keep up the great work! Liked and subbed.

[@88_WLE_88]

Thanks Phill

[@MuhammadUmar-xj9bj]

Lukasz Bien Amazing and intersting work dear. If we use stepper motor and its torque is not given. How can I cotrol its speed using i2c . Thanks in advance.

[@DavidTorres-cq9ep]

Hi excellent job, buy i've a question What's the mathematics model that you used ?

[@88_WLE_88]

Hi thanks. Well I did not model this robot.. I've put a bit of description above this comment.

[@eagles97796]

1:55 maybe step motors could fix this?

[@88_WLE_88]

Yes, and good feedback of the position. check out my latest updated video , it is a bit better behaving :)

[@rakeshkumarrakee]

Awesome bro. Good work 👍👍

[@rakeshkumarrakee]

Bro how come you've done this? Can you help me in designing my own self balancing robot with some study materials?

[@iwasz]

Hi, great work. Do you have some website on the subject by any chance?

[@88_WLE_88]

Thanks! no, but I'm thinking about it.

[@iwasz]

Great, so for now, could you please tell me how big is the backlash of the motors you use? I'm considering buying the same, but don't know if they're worth it.

[@atmega32avr]

Cześć Łukasz - świetny projekt :) Znajdę gdzieś więcej informacji konstrukcyjnych i softwarowych ?

[@88_WLE_88]

Hej dzieki. Pracuje nad tym ale dosc wolno to idzie bo walcze z innymi projektami:) ale na pewno w koncu cos sie pojawi. Pozdrawiam.

[@atmega32avr]

OK - oczekuję z niecierpliwością :)

[@nadeenkalbonah2489]

If you are using DC motors, can you share us the code?

[@MAbduser]

21 drunk people dislike this video, if you know what I mean ;)

[@ryanhmkp6632]

If i changes motor dc with servo, how program it? Use cw ccw?

[@HassanOmariprofile]

Impressive... Great work

[@utkarshshukla231]

Awesome ! 🙏🏻❤️ I want to make the same .

[@ZenoFromTheElea]

Nice work.

[@harsh__nasit]

Hey! This is too good! Can you post the complete tutorial?

[@hawsshaw]

Can i buy d circuit diagram and parts ?

[@quyquyenhoang8700]

It is smooth work!! How do you choose Kp,Ki,Kd,please?

[@88_WLE_88]

Hi, Thanks, I have used a Ziegler Nichols method as a base to achieve those parameters. After that I just tuned them in experimental way.. One of the benefits of using Codesys is access to tools like trays which makes life lot easier..

[@quyquyenhoang8700]

I have a balance robot, but it can't balance. i'll try the your method. Thank you very much.

[@adityabastapure451]

Hello Sir, I am also working on self balancing robot. I have done it using Ardunio, MPU6050 and Ardunio Library for calculating angles. But mine one is very unstable. Have calculated PID values or achieved it by trial and error methods. Could you Please guide me .

[@88_WLE_88]

hi Thanks. I'm using Codesys for this application. Codesys it's brilliant tool for PID tunning as it has quite good trace feature so it is possible to tune up your PID by using e.g ziegler nichols tuning method. To be honest this is closed loop system of two controllers and two filters : 'balancing filter' - complementary one and speed which is Kalman one in this case. So tunning proces was quite lengthy and sometimes frustrating ;)

[@fantasticphil3863]

What motor driver/controller are you using?

[@88_WLE_88]

All info is in the beginning of the video

[@mauriciochicarolli7528]

Lukasz you did a amazing work, I really love it. Please I want so much do the same self-balancing robot but I don't know how to start, what is the first steps you know, could you help me to make this robot?! Thank you very much for attention!

[@88_WLE_88]

Thanks, Well this is really wide topic, it depends what is your background... Any experience with software ? hardware? Arduino maybe?

[@lispeixoto6230]

Hi! How much payload could carry "self balancing Robot"?

[@88_WLE_88]

Well... something like two pints ;)

[@graalcloud]

Pimp dude you could make it like pass the bong! Dude weed bro

[@yuvpreetsingh9106]

which motor did you used bro plz tell asap

[@88_WLE_88]

Hi. Pololu 19:1 metal gearmotor with encoder.

[@mehinabbasova5013]

Firstly, this is awesome! Great job!! Question: How much weight could you have on a self balancing robot? (Max) Edit: and what does that depend on?

[@88_WLE_88]

Hi thanks, It is difficult to say as whole weight is handled by motor's shaft. I did not check that but my bet will be around 5 kg.. maybe..

[@mehinabbasova5013]

Lukasz Bien I see... Thank you!!

[@xiangweijin3960]

is it finished ? could you share some data about it? It's so cool ! I have a raspberry too,i also want to do it like you.

[@88_WLE_88]

Hi thanks, , Yes it's done. If you know Codesys, no problem I can help if you will have any questions.

[@xiangweijin3960]

I have tried some examples on Pi which come form codesys, I can only use Pi on simply code, the body of mine robot has been finished, Could you share some code what i can learn form, thank you very much , my email is [e-mail]

[@robee984]

Can u make one wheel...that will be more cooler..

[@bentonedmondson8300]

What type of motors are those?

[@88_WLE_88]

www.pololu.com/product/2822

[@bentonedmondson8300]

Thanks

[@bentonedmondson8300]

Lukasz Bien What motor drivers are you using

[@cestmoidemi5054]

Hello! Would you like to share with me this full of project, because i really love it and i wanna make it for my finally thesis this year. Thank you.

[@rohinijadhav0055]

I want to buy this project

[@shaurabhsaha2082]

can u plzzzz tell me how to make this .....i want to make this for my college project

[@dinielarcher5443]

could you tell me how to use codesys on pi？

[@88_WLE_88]

Hi Daniel , please stay in tune as I am planning to make some tutorial :)

[@dinielarcher5443]

ok

[@furkanyilmaz4720]

Hello, that project is awesome I can say that clearly. I'm trying to do almost same project but I've got some question and needed some help could you interest?

[@88_WLE_88]

Hi, Thanks, You can find contact email here: www.wickedlabelectronics.com, website is not finished yet but email works :)

[@AlainHubert]

One word: WOW !