Self Balancing Robot
2019 Research Project
Mechanical Skills Used:
CAD 3D Modeling, Prototyping, Iterative Design, FDM 3D Printing, Mechanical Assembly
Electrical and Programming Skills Used:
Arduino Coding, Feedback Control System Design, PID Tuning, Accelerometer Sensor Processing, Data Registry Modification, Electrical Circuit Analysis, Soldering
Software Used:
Solidworks, Adruino IDE
As part of my research here at the University of California Riverside, I am currently working with Professor Fabio Pasqualetti to develop an inverted pendulum test platform for his mechatronics class. The goal of this project is to develop a system that students can use to figure out and test PID code and learn basic control systems.
The body is formed out of 3D printed plates and spacers designed using Solidworks. The electronics consist of an Arduino as the brain, an MPU-6050 as the accelerometer sensor and two 6-volt dc motors as the source of motion. The motors are controlled by a L298N motor driver. The robot utilizes a tuned PID controller to be able to balance and self right
