Title: Design and development of two-wheeled self-balancing robot and its controller

Authors: Abhishek Meghji Chheda; Ravi Kumar Mandava; Pandu R. Vundavilli

Addresses: School of Mechanical Sciences, IIT Bhubaneswar, Bhubaneswar, Odisha, 752050, India ' Mechanical Engineering Department, MANIT Bhopal, Bhopal, Madhya Pradesh, 462003, India ' School of Mechanical Sciences, IIT Bhubaneswar, Bhubaneswar, Odisha, 752050, India

Abstract: Solving self-balancing problems of a wheeled robot that can assist human beings in real-time applications is a challenging task. Researchers around the world are adopting the concept of the inverted pendulum to control the robot in both the static and dynamic conditions. In the present research, the authors have designed and developed a two-wheeled robot and established a PID controller to make the robot self-balancing in nature while performing the task in office environments. The gains of the PID controller that help in achieving the self-balancing phenomenon are tuned with the help of trial and error method. Moreover, the manoeuvrability of the robot is controlled with the help of a wired nunchuck controller that uses a wireless serial transceiver module. Furthermore, the performance of the robot is evaluated by analysing its strength, load carrying capacity and stability through real-time experiments.

Keywords: self-balancing robot; inverted pendulum; stepper motors; PID controller.

DOI: 10.1504/IJMA.2021.113715

International Journal of Mechatronics and Automation, 2021 Vol.8 No.1, pp.1 - 8

Received: 02 Aug 2019
Accepted: 23 Mar 2020

Published online: 19 Mar 2021 *

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