Balance Robot using DAGU 6WD

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Balance Robot using DAGU 6WD

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Introduction

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This is the first prototype of the Balancing Robot. In this version , I used two sharp sensors to control the motors.this is as first step till the IMU comes from sparkfun. I used Kalman Filtering to reduce the sensors noise. The PID parameter still need more tuning. i will upload the video after finishing the fine tuning. this picture is for the Geared motor with ratio 34:1 and the rubber tyres. the following picture is for the sharp sensor. I used 80cm type.

Balance Robot using DAGU 6WD
Balance Robot using DAGU 6WD

this picture is for the Geared motor with ratio 34:1 and the rubber tyres.

the following picture is for the sharp sensor. I used 80cm type.

Balance on two Wheels

Actuators / output devices: 2 geared motors
Control method: PID
CPU: Atmega2560
Operating system: Arduino
Power source: 12V 4.5AH
Programming language: Arduino
Sensors / input devices: Sharp IR
Target environment: indoor

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Balance Robot using DAGU 6WD

Balance Robot using DAGU 6WD

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