International Research Journal of Engineering and Technology (IRJET)
e-ISSN: 2395-0056
Volume: 11 Issue: 04 | Apr 2024
p-ISSN: 2395-0072
www.irjet.net
ARDUINO CONTROLLED SELF-BALANCING ROBOT USING BLUETOOTH A.B.Raghul1, S.Kalaimani1, A.B.Rakkesh3, V.Arunachalam4, A. Arun5 2Assistant Professor, Department of Mechatronics, Sri Manakula Vinayagar Engineering College,
Madagadipet, Puducherry, India 1345UG student, Department of Mechatronics, Sri Manakula Vinayagar Engineering College, Madagadipet,
Puducherry, India
-----------------------------------------------------------***-----------------------------------------------------------the artificial neural networks. The PID algorithm is an Abstract - The research seeks to explain the balancing
excellent method of building a control system PID stands for Proportional, Integral, Derivative. The Proportional, Integral, Derivative(PID) parameters such as Kp, Ki, Kd are used to improve the transient response, improve the steady state response and to improve the transient response settling time and rising time respectively. The Proportional, Integral, Derivative(PID) helps to provide the Self-balancing robot to make fast and stable response even in steepy surfaces.
capability of the robot even under external disturbances The study seeks to explain the advantages as well as disadvantages possessed through the application of stepper motor. The study seeks to explain elaborately about the uses of self balancing robot. The researcher has used secondary data to extract resources regarding the completion of the study. At final, the comparative results of and gyroscope are derived.
Key Words: self-balancing robot, Stepper motor, Arduino UNO, Bluetooth
2.COMPONENTS USED
1.INTRODUCTION
The various components which are used to in the selfbalancing robot are
Self-balancing robot is defined as a robot which has the capability to balance itself on two wheels and get controlled by the user even under external disturbances. Self-balancing robot consisting of both hardware and software components such as housing, motors, and Bluetooth module. Self-balancing robot is generally used to carry the hazardous substances like chemicals in chemical industry and used in vehicles to safeguard the physically impaired persons.
1.1 APPLICATION
An array of parts is usually included in a self-balancing robot, such as: the robot’s main frame, or chassis, is where all other parts are mounted. Space for mounting wheels, motors, and other gear is typically included. Typically, self – balancing robots use two stepper motors, one for each wheel. With the help of these motors, the robot can move its wheels. The robot’s wheels allow it to move and get traction. Often, motor shafts or gears are used to connect them to the motors. These electrical parts regulate the motor’s speed and orientation. They adapt the power provided to the motors based on the signals they get from the microcontroller (such an Arduino). The robot’s microcontroller, which processes sensor data, is its brain.
Other applications of the Self-balancing robot such as military, medical applications and it is used for gardening which is controlled by the Internet of things(IOT) , airports for carrying luggage , automatic trolleys in the malls and supermarket. The main purpose of the Self-balancing robot is to oppose the external force from the environment and maintaining its upright position. Gyroscopic sensor(MPU6050) helps to retain its balanced position from the opposite forces with the help of Arduino controller which acts swiftly on the calibrated tilt angle.
1.2 ALGORITHM The various methods of algorithms used are Kalman’s filter algorithm, LIDAR based G-mapping algorithm and
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Rechargeable Battery Gyroscope sensor Bluetooth module Stepper motor A4988 stepper motor driver Arduino Nano Arduino IDE Bluetooth terminal
The Bluetooth module is used to control the robot forward and backward wirelessly. And the Bluetooth
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