Robot balansujący - implementacja

W artykule przedstawiono projekt i realizację dwukołowego robota mobilnego działającego na zasadzie wahadła odwróconego z dwoma niezależnymi napędami. Zaprojektowany system kontroli pozycji został wykonany w oparciu o czujnik żyroskopowy oraz akcelerometr wraz z własnym oprogramowaniem sterującym pozycją robota. Własny algorytm sterujący zapewnia utrzymanie równowagi oraz możliwość zadawania kierunku ruchu poprzez interfejs umieszczony na urządzeniu mobilnym.

The article presents the design and implementation of a two-wheeled mobile robot acting on the principle of inverted pendulum with two degrees of freedom. The design of the position control system was based on a gyro sensor and an accelerometer with its own robot position control software. Its own control algorithm ensures balance and the ability to set the direction of travel via the interface on the mobile device. The first implementation of this model has the ability to trace setpoints and control signals, allowing for additional analysis of the control system. Measurement results will be helpful in future work on the implementation of control algorithms such as Fuzzy Logic, LQR or more complex cascade control systems. The correct operation of the control system is also related to the careful execution of the actual prototype. Robots construction during the prototype process has significantly changed its dimensions. The common denominator, however, is the construction concept resembling scaffolding, which significantly accelerated the prototyping process with the ability to quickly and easily change the configuration of elements in the structure. Presented robot is the first prototype and next versions are prepared with additional functions such as the ability to automatically achieve vertical position, further application development for mobile devices allowing to change the current parameters of the control system and supplement of the system with sensors to avoid collision.