robogaia.com
  • Products
    • 3 Axis Encoder Conter Arduino Shield
    • 6 Channel Encoder Counter Arduino Shield
    • 8 Channel Encoder Counter Arduino Shield
    • Raspberry Pi 6 Channel Encoder Hat
    • Raspberry Temperature Controller Plate
    • 4 Relays Raspberry Pi Plate/Shield
    • C2N-UNI8IO To Terminal Block Board
    • Arduino Solid State Relay
    • Encoder Shield Connector
    • Mechanical Encoder Board with Connector
    • Raspberry Pi Dual Thermocouple Plate
    • Raspberry Pi 3 Channel Encoder Hat
    • HC-SR04 Ultrasonic Distance Sensor
  • Blog
  • Contact
  • Tutorials
    • How to Add a Web Interface to the Raspberry Pi 4 Relay Board
    • How to add a simple web server on Raspberry Pi with Flask Framework
    • How To Calculate Resistor Wattage
    • How To Start With Robotics
    • How To Start With Artificial Intelligence
    • How to start with CNC 6040 machine
    • How to calibrate Robogaia accelerometer/gyro shield
    • How to build Balancino (the balancing robot)
  • Distributors
  • Services
  • About

Balancino , the balancing robot

Picture
     This is a small balancing robot with 2 wheels
that is powered by 2 continuous servo motors.
The Algorithm is loaded on an Arduino Uno.
An accelerometer Shield (Robogaia Accelerometer/Gyro Shield)  is used to sense the state of the robot.
   Both accelerometers and the gyros is used in the algorithm to determine the speed of the motors.

Here is the first try of the algorithm. Not too great ,but there is room for improvement.
The balancing algorithm is described here and here.
balancino_code_first_try.zip
File Size: 3 kb
File Type: zip
Download File

Servo motors

The robot uses 2 servo motors to engage the wheels.
They are connected to Pins 3 and 9 .
Picture
Balancing robot Servo Motor Connection

The Frame

The frame was cut from a sheet of plastic with the CNC machine.
I used Cut2D to design and convert the design to GCODE (the code that is understood by the CNC machine)


Picture
Balancino Frame design
@Robogaia 2021