Two-wheel self-balancing robot

Abstract

Two-wheeled balancing robots are an area of research that may well provide the future locomotion for everyday robots. The unique stability control that is required to keep the robot upright differentiates it from traditional forms of robotics. In this project, the inverted pendulum principle is used to provide the mathematical modelling of the naturally unstable system. This is then utilised to develop and implement a suitable stability control system that is responsive, timely and successful to control and balance a two-wheeled robot developed in this project. Completing the design and development phase of the robot requires careful consideration of all aspects of the system, which include operating conditions, materials, hardware, sensors and software. This process provides the ongoing opportunity of implementing continued improvements to its perceived operation whilst also ensuring that obvious problems and potential faults are removed before construction. The construction phase entails the manufacture and assembly of the robot circuits, hardware and chassis, together with the coding of the software. The final stage concludes the robot production in which the final maintenance considerations can be determined. These are essential for ensuring the robot continued serviceability. The analysis and evaluation of the completed robot provides the ability to assess the robot effectiveness and efficiency in maintaining stability. The opportunity to calibrate and perform additional fine tuning of the design is also explored. The project is concluded with comments on each aspect of the project with recommendations for further improvement, additional capabilities and future areas of