Balancing Robot
Problem Definition:
Robotics has always been played an integral part of the human psyche. The dream of creating a
machine that replicates human thought and physical characteristics extends throughout the
existence of mankind. Developments in technology over the past fifty years have established the
foundations of making these dreams come true. Robotics is now achievable through the
miniaturization of the microprocessors which performs the processing and computations. New
forms of sensor devices are being developed all the time further providing machines with the
ability to identify the world around them in so many different ways. A robot that is capable of
balancing upright on its two wheels is known as a two wheeled balancing robot. Two wheeled
robots are one variation of robot that has become a standard topic of research and exploration for
young engineers and robotic enthusiasts. They offer the opportunity to develop control systems
that are capable of maintaining stability of an otherwise unstable system. This type of system is
also known as an inverted pendulum. This research project aims to bring this, and many of the
previously mention aspects of a robot together into the building of a two wheeled balancing
robot with a non-linear, fuzzy controller. The following figure contains the physical view for the
robot designed as part of this project. The process of balancing is typically referred to as stability
control. The two wheels are situated below the base and allow the robot chassis to maintain an
upright position by moving in the direction of tilt, either forward or backward, in an attempt to
keep the Centre of the mass above the wheel axles. The wheels also provide the locomotion thus
allowing the robot to transverse across various terrains and environments. This type of robot
provides a challenging problem and has resulted in many useful and interesting designs being
developed. The theory used to maintain stability of these robots is based on the inverted
pendulum theory.
Figure 1: Views of Two Wheeled Balancing Robot
Problem Objectives and Learning Outcomes:
The project objectives are broken into several key goals. The first is to review and evaluate
literature encompassing inverted pendulum theory and two wheeled balancing robots. This
provided the basis for an informed design approach based on previous experiences and
procedures by others. The second is associated with the development of a microcontroller based
control system capable of maintaining stability of the robot. The resultant physical circuitry
requirements are then finalized in a microcontroller unit design as part of the third goal. Goal
four requires a finalized robot design including integration all of its necessary components,
sensors and PCB’s before the manufacturing and assembly of the robot is completed. The
following goal is to attain an analysis and evaluation of the measured performance data to
establish its limitations, capabilities and potential shortfalls. Information obtained during each of
these steps including the resultant outcomes are then compiled, concluding this complex
engineering project. These key goals/objectives are defined as follows:
1) Research will be conducted into the theory of an inverted pendulum and the various
considerations that may be necessary during the construction of a two wheeled balancing
robot. This will present an indication of the potential problems, resources required and
timeframes expected. This will provide overall direction of the project.
2) A non-linear control system will be designed and then simulated to ascertain if it is
capable of stabilizing the initial design concepts. Once a design is established,
progression to the next objective may occur.
3) Design of a microcontroller unit capable of achieving the control system derived above
will be completed including the necessary circuitry, sensors and circuit boards.
Additional, the unit will be configured with an interface for future incorporation of
locomotion (trajectory) control.
4) The robot design will be finalized with the resultant resource requirements sourced.
Manufacture and assembly will begin with the final outcome of this step being the
construction of the two wheeled balancing robot.
5) An analysis and evaluation will be performed on the robot to assess the overall system
performance. This will provide continual improvements to the robustness of the stability
and locomotion before completion of the project.
6) A completed final presentation consisting of the design, simulation manufacture and
testing process used to derive the robot will be submitted to the department of EE, FURC
for assessment. This will examine the successfulness of the project in overcoming the
problems and objectives previously defined.
CEP Flow Chart:
+---------------------+--------------+
+--------< | Motor shaft encoder | |
| +---------------------+ Motor PWM | <-----+
| +---< | Angle sensor | | |
| | +---------------------+--------------+ |
| | |
| | +-------+ |\ angle |
| | | | | \ velocity |
| +-----| Deriv |------|K1-----+ |
| | | | | / \ |
| | +-------+ |/ \ |
| | +-----+ |
| | |\ angle | \ |
| | | \ pos | \ |
| +--------------------|K2--------+ \ |
| | / | \ |
| |/ | \ |
| | SUM +------+
| +-------+ |\ wheel | /
| | | | \velocity| /
+----------| Deriv |------|K3--------+ /
| | | | / | /
| +-------+ |/ | /
| +-----+
| |\ wheel /
| | \ pos /
+-------------------------|K4-----+
| /
|/
Figure 2: Flowchart of the project
Conclusion:
The project aims to evaluate the process from gathering knowledge in the field of control system and
robotics, through to apply them in the design, simulation, manufacture and subsequent analysis of the
completed two wheeled balancing robot. A review of the literature available on this type of robot
suggests that a non-linear control system has not been readily achieved.
It is hoped that the results from this complex project will encourage future engineers and robotic
enthusiasts to attempt a non-linear design for use in other robot control systems. For this two wheel
balancing robot, it is anticipated that further research beyond this project, will progress into visual
and audio recognition systems allowing communication and autonomous navigation to be
incorporated.
