Society of Robots - Robot Forum
Mechanics and Construction => Mechanics and Construction => Topic started by: ketanco on January 19, 2014, 10:52:36 AM
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hello
i am going to make a self balancing robot with two wheels and imu6050 3 axis accelerometer. but i dont have much info. i use arduino, i am waiting for your advice thanks
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Have you tried typing this into GOOGLE search????
There are a number of articles and papers on doing this.
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hello
i am going to make a self balancing robot with two wheels and imu6050 3 axis accelerometer. but i dont have much info. i use arduino, i am waiting for your advice thanks
There is a "ton" of info out there. A search will turn it up.
But in general
1) the 6050 is "noisy" yo need to average or svn use a kalman filter to smooth the data
2) use big motored the have small backlash in the gears and do at least 200 RPMs at the wheels, more is better
3) You want a large rotational inertia to place heavy parts both low and high, placing the battery on top actually helps.
A have a 6050 and I can say that it's output is all over,up and down even while resting on my bench. Nothing wrong with it, ALL of these low cost units are like this and the 6050 is one of the better ones. But noisy data is to be expected. Google "kalman filter" as that is the #1 classic fix. But a simple low pass filter might work? But it will lag and balance bots don't like "lag".
And then don't forget high quality and robust motors.