Balancing Robot

Fadli Rohaizi , Mohd Napiah (2009) Balancing Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Modem control engmeenng 1s closely related to electrical, electronic and computer engineering. This is because, electronic circuits can be easily described using control theory techniques. There are lots of control techniques nowadays used to control system whether it is stable or not. Inverted pendulum is a typical example of an unstable control system and has been used for educational purposes by many researchers throughout the world. Therefore, the main objective of this project was to design and fabricate a robot capable of sustaining a vertical orientation by balancing on only two wheels. The balancing robot is a highly unstable two wheeled robot where the largest mass which is the battery pack, will be positioned high above the axle, making the robot similar to an inverted pendulum with a low natural frequency. The robot will naturally tend to tip over, and, the further it tips, the stronger the force causing it to tip over. By using appropriate system controller and sensors, stability of the robot will be achieved.

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