Self Balancing Robot
In this project, a self-balancing robot using only two rubber wheels was proposed to prevent the robot from toppling over, applying knowledge of the PID controller closed-loop system to enhance the robot performances and to implement the Internet of Things (IoT) to the robot. The robot will be able to orientate itself when a disturbance or an external force act on it. An Arduino Uno microcontroller was used to process the signal inputs of the transducer or sensor to respond with the proper output of the system. The input and output components which are used in this project includes a rocker switch, MPU6050, HC-05 Bluetooth, DC gearbox motors and L298N motor driver. The battery source used in this project are three 3.7 V 2000mAH Li-Ion batteries. When the robot starts to topple over, the MPU6050 will detect the changes and starts to regulate itself using the DC gearbox motors to control the balancing of the robot.
The self-balancing robot uses a closed-loop control system. The plant in this project will be the DC gearbox motor which is to control the clockwise and anticlockwise of the two wheels. The control action is dependent of the output signal, when there is a disturbance such as a change in the angle inclination or gravitational acceleration the system will correct itself. The output sensors measures the output response and converts it into the form used by the PID controller. The summing junction algebraically adds the signal from the input to the signal from the output which arrives through the feedback path the result of this is called an error or actuating signal. This closed-loop control system has an advantage of achieving greater accuracy, less sensitive to noise, disturbances and changes in the dynamic of the environment. This is also great way for us to design the self-balancing robot by tunning the kp, ki, kd values for the PID controller to achieve the desired transient response, reducing the steady state error and also to stabilize the robot for better performances
About Us
Robotics Club USM, is a gathering/club that provide a platform for students who are interested to learn, research, and development about robot. In USM, Robotics Club is a club which is under the supervision of School of Electrical and Electronic Engineering. However, the club also consists of members from various schools for instance School of Mechanical Engineering, School of Chemical Engineering and etc. Basically this club is one of the clubs wholly organized by students where lecturers act as managers.
Recently, USM Robotics Club mainly focuses on Research and Development (R&D) to develop new technology to apply in the robotics for solving some specific tasks. By having R&D department, we manage to improve our technology level to get a better performance for our robots.
Hopefully with these skills and knowledge our members gain from here, they can develop a new and useful technology to have a better life for human-being in future.
