Let's Make Robots!

OK, I have just given up making a balancing robot. Ever.

Making a balancing robot - or even dreaming of making one just lost it's appeal.. because I will never make anything like this.,

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Well, all.

I'm making a two-wheeled balancing robot as a step towards making a single-ball balancing bot. I've seen the single ball bot (in pictures) for over 10 years, and it hasn't discouraged me yet.

As long as your motors are strong enough and your control loop fast enough, it should be easy to get a two-wheeled balancing bot to just balance. I now have most of the parts and will start programming shortly. And I have a pair of more powerful motors that I can use if the Pololu ones that should arrive tomorrow don't work.

Then maybe when I save enough for the motors and wheels I can attempt to build a single-ball bot. The one thing I can't figure out is how they get the equivalent of wheel encoders, since they are necessary to keep the bot on station. Perhaps a mouse chip that is placed close to the basketball?

Now, if somebody comes out with a levitating bot, that might discourage me for a bit. :)

Strong motors ... I think that is my problem. I'm using Pololu micro metal gear motors. Although my bot is small and light I think they are to weak/slow to make a decent balancer...

I think the problem is not just building a self-balancing robot. Many people here on LMR have done that.

What I find amazing is the smooth fluid movement of the one you referenced on YouTube, indicating very fast responce to very tiny variations in movement and balance. They must also have used very strong motors to be able to allow such heavy loads as that one.

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You know, a "Segway" is basically the same thing as a balancing robot, but applied to a live cargo instead. https://www.youtube.com/watch?v=kesXdu_znIk

 

I've been playing with a small balancing bot for months and I'll be honest I can't get it to work right. Tuning the PID parameters is hell...

While it is major league coolness, all that work to balance has to chew through batteries like crazy.... 

Get 6 axis chip, an accelerometer 3 motors and you could pull it off easily

the code would seem faily simple

All you'd have to do is track the offset of a <0,0,0> axis' and balance it out via the motors depending on the accelerometer force.

 

OK, let's see it then!

I wanted to do it, I haven't got the funds to make it.

Easier said than done

Sure, the only thing that's hard is the software although with persistence it'll be a breeze and perfected over a couple of days.