Stabilizing an inverted pendulum is a classic challenge in manage idea, and if you’ve at any time taken a handle techniques class you may possibly try to remember observing web pages comprehensive of differential equations and bode diagrams just to describe its essential procedure. Despite the fact that this may possibly make these a program seem terribly complex, really implementing all of that idea doesn’t have to be tough at all, as [Limenitis Reducta] demonstrates in his latest project. All you need is a 3D printer, some primary digital skills and information of Python.
The parts necessary are a human body, two wheels, motors to push people wheels and some electronics. [Limenitis] demonstrates the design and style system in the online video beneath (in Turkish, with English subtitles offered) in which he attracts the entire procedure in Fusion 360 and then proceeds to manufacture it. The physique and wheels are 3D-printed, with rubber bands giving some traction to the wheels which would normally have problems on slippery surfaces.
Two stepper motors drive the wheels, managed by a DRV8825 motor driver, though an MPU-9250 accelerometer and gyroscope unit measures the angle and acceleration of the system. The loop is closed by a Raspberry Pi Pico that implements a PID controller: a further handle theory traditional, in which the proportional, integral and by-product parameters are tuned to adapt the regulate loop to the physical method in query. External inputs can be presented through a Bluetooth link, which will make it doable to command the robotic from a Computer or smartphone and information it all over your residing area.
All style and design information and application are accessible on [Limenitis]’s GitHub page, and make for an outstanding starting off issue if you want to set some of that regulate theory into follow. Self-balancing robots are a favorite among robotics hackers, so there is no shortage of examples if you have to have some far more inspiration before making your individual: you can make them from off-the-shelf areas, from bits of wood, or even from a solderless breadboard.