Research Article
Design and Control Self Balancing Robot
@INPROCEEDINGS{10.4108/eai.30-7-2019.2287765, author={S Santoso and S Yuliananda}, title={Design and Control Self Balancing Robot}, proceedings={Proceedings of the 1st Asian Conference on Humanities, Industry, and Technology for Society, ACHITS 2019, 30-31 July 2019, Surabaya, Indonesia}, publisher={EAI}, proceedings_a={ACHITS}, year={2019}, month={9}, keywords={android balancing robot gyroscope pid robot}, doi={10.4108/eai.30-7-2019.2287765} }- S Santoso
S Yuliananda
Year: 2019
Design and Control Self Balancing Robot
ACHITS
EAI
DOI: 10.4108/eai.30-7-2019.2287765
Abstract
Balancing robot is a mobile robot that has wheels on the right and left side, has the ability to maintain equilibrium. This robot is a development of an inverted pendulum models placed on a wheeled train. Gy521 mpu6050 3-axis gyroscope and accelerometer sensors are used to detect the slope as well as to detect angular velocity and to maintain the position of the robot in a position perpendicular to the earth surface. PID control method is used to control the DC motors. The average value of the measured angle on the sensor is Y = 90, X = 0.1, Z = 44. The determination of the value (tuning) of Proportional and Integral control parameters is done by trial and error. The GYROBOT mobile app created to control the direction of robot moves through the Bluetooth channel. This research is still not getting stability in the robot movement,