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Harsha Alva
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Mechanical Engineer + Software Developer
 · MangaluruIndia
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The inherently unbalanced self balancing bot!

Today, I tried making a self-balancing bot to learn about PID controllers and the Kalman filter. Bought all the parts from Claran Martis and was excited to begin. Cut a 90x130 sq. mm piece of blue PVC sheet of 3 mm thickness and tempered it under a gas flame to increase its strength.

Uploaded the code to the Arduino and waited for the bot to stabilise. It didn’t. Tried changing P for a couple of hours to get the bot to oscillate. That didn’t work.

Later, I realised that I hadn’t longitudinally balanced the bot. When the components of the bot are located on either side of it’s centroidal axis so that the bot doesn’t tilt to either side, it’s said to be balanced. Ideally, this will be a point (Center of Gravity), but in reality, it a line, i.e, a continuous set of points.

If the centre of mass of the components does not fall within the range of values of the CG, the bot is inherently unbalanced. This makes it difficult for the algorithm to balance the bot.

Steven Reubenstone John Rodrigues please check for errors

#fail

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Harsha Alva

Good job in self balancing experiment

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Harsha Alva
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Mechanical Engineer + Software Developer
 · MangaluruIndia
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Thanks John Rodrigues :)

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Steven Reubenstone
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Mechanical Engineer & Tinkerer of Things.
 · New YorkU.S.
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going to review this more in depth today

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Mechanical Engineer Grad Student at USC, Avid Math Wiz
 · Los AngelesU.S.
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woah

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Claran Martis
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Electronics and Communications Engineer | Founder CVision
 · MangaluruIndia
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Harsha Alva nice to see the bot ready. I believe having the centre of mass on the line joining the axles would help. That’s balancing the weight on the front and back keeping the line joining the centre of the wheels as reference. Also take into account the weight distribution of the motors. You can use clay or other substitutes to balance weight if you don’t want to shift the position of other components significantly. Hope to see it work properly soon.

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Steven Reubenstone
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Mechanical Engineer & Tinkerer of Things.
 · New YorkU.S.
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Posts like these really help power collaborizm.

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John Rodrigues
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Mechanical Design Engineer |Founder of designwithjohn.com
 · HonnavarIndia
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Haha that small part is so hard to find
Went to every possible shop

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