Two Wheeled Balancing Robot

Lim , Boo Eik (2007) Two Wheeled Balancing Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Two Wheeled Balancing Robot is capable to balance itself by using only two wheels. In order to balance itself, this robot requires feedback from a sensor that will indicate the tilt angle of the robot. The robot will then move forward or backward to recover the balance setting point. The basic concept of Two Wheeled Balancing Robot is a dynamic balancing. This type of balancing is easier to describe in human perspective for example; to keep humans standing, our brain constantly sense whether the body are standing upright. If an outside force pushes human body offbalance, the brains will instruct the muscles to counteract that force. The task of the microcontroller in this project is monitoring the feedback sensor, calculate the error between desired and actual tilt. Proportional derivative Integral or PID control algorithm will be applied to makes the robot even more stable. Balancing robot can apply for personal transport like scooter, which can help handicapper to move from one place to another.

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