TWO WHEELS SELF BALANCING

ROBOT

Group Members

ALIYAN RIAZ L1F18BSEE0054

MUHAMMAD HASSAN BILAL L1F18BSEE0066
HAMZA IQBAL RAMAY L1F18BSEE0069

Project Supervisor
DR. MUHAMMAD MAJID GULZAR
Associate Professor

Co­supervisor
NILL
Nill

DEPARTMENT OF ELECTRICAL ENGINEERING

FACULTY OF ENGINEERING
UCP LAHORE
 Acknowledgement

First of all, we are thankful to Almighty Allah for making it workable for us to reach this
phase of education where numerous individuals can’t reach. We can’t express enough
respect to our worthy supervisor sir Dr. Muhammad Majid Gulzar for his complete
support and guidance.We also thankful to all the faculty of university and lab engineers
for their support and effort to make it possible for us.We are grateful to our parents for
their help and collaboration over the span of this project. It was in reality their sincerest
prayers and efforts which help us to complete the project

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 Abstract

In today’s word robots play very important roles in industries as well as in the society.
Some of the works that a person can’t do, robots can do them quite easily. Our project
is related to design and fabrication of two wheels self­balancing robot. The robot will
carry the light weighted objects also maintaining its balance on two wheels.The Arduino
micro controller is used for the purpose of balancing robot so that it can stand upright
and receive commands so that the desired path can be easily executed. Inertial mea­
surement unit sensor will measure the external force and observe the rotational motion
on the object to use for the robot balance. This system can be used as a base model to
accomplish complex tasks which would otherwise be functioned by humans.

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 Nomenclature
CAD Computer Aided Design

CP U Central Processing Unit

IM U Inertial measurement unit

Li − P o Lithium ­ Ion Polymer

M AT LAB Matrix Laboratory

P ID Proportional Integral Derivative

P W M Pulse Width Modulation

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 Table of Contents
Acknowledgements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Abstract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv

Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v

Table of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi

List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii

Chapter 1: Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Literature Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1.1 Research papers references . . . . . . . . . . . . . . . . . . . . 1
1.2 Problem statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.3 Objectives and Deliverables . . . . . . . . . . . . . . . . . . . . . . . 3
1.4 Market Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.5 Industrial Prospective of the Project . . . . . . . . . . . . . . . . . . . 4
1.5.1 Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.6 Description of Block Diagram . . . . . . . . . . . . . . . . . . . . . . 6
1.6.1 Reference signal . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.6.2 PID Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.6.3 IMU Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.6.4 Disturbance signal . . . . . . . . . . . . . . . . . . . . . . . . 7
1.6.5 Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.7 Project Methodology and Timeline . . . . . . . . . . . . . . . . . . . . 8

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 List of Figures
Figure 1.1 Self Balancing Robot . . . . . . . . . . . . . . . . . . . . . . . 2
Figure 1.2 Two wheels self balancing robot . . . . . . . . . . . . . . . . . 5
Figure 1.3 Block diagram of the project . . . . . . . . . . . . . . . . . . . 6
Figure 1.4 Balancing block of the project . . . . . . . . . . . . . . . . . . 8
Figure 1.5 Flow Chart of the project . . . . . . . . . . . . . . . . . . . . . 9

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 Chapter 1
Introduction

1.1 Literature Survey

As far as our survey is concerned, a lot of literature is available about two wheels self­
balancing and tracking robot. However, we have found very few papers about two
wheels self­balancing and tracking robot.

1.1.1 Research papers references

Segway, KAIST, Ballbot presented a two­wheel self­balancing robot. They have been
widely recognized a powerful Personal transportation vehicle. Two self­balancing robot,
he Segway, has become popular and used for commuting or as patrol transport [1].
The self­balancing robot is similar to Segway, like other ordinary two wheeled self­
balancing using wheels and body movement. It is powered by a DC motor two actuators
consisting of a belt mechanism. In addition, KAISAT has developed a two­wheel self­
balancing robot with an upper body of five degrees of freedom. Using its upper body, the
robot maintains dynamics balance based on a zero­moment point [2]. As different types
of self­balancing robot are widely used in different fields and different environments.
When a two­wheel self­balancing robot encounters a problem, its stability is mainly af­
fected by an obstacle that is that is applied in the back and forth directions. therefore,
the stability and security of the KUWAY was taken care of in the sagittal plane. A free
body diagram of the self­balance robot of the KUWAY in the sagittal plane [3].
 Introduction

Figure 1.1: Self Balancing Robot

A Gyroscope sensor is a device that can measure and maintain the orientation and angu­
lar velocity. This is very small device of electromechanically and mechanical devices.
The gyroscope sensor measures the angular speed or inclination of the object or the di­
rection of the background [4].
Two­wheel self­balancing robot balance itself and the light weight object. The collected
data can be used to measure various parameters such as the tractive torque at wheel,
mean wheel effective radius, Tyre rolling resistance, force due to gradient, aerodynam­
ics drags, equivalent inertial force, angle of deviation etc. It allows to balance the carry
the light weight object from one place to another place.

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 TWO WHEELS SELF BALANCING ROBOT

1.2 Problem statement

A mobile robot with least surface contact area and the minimum actuators for carrying
small loads. (Mobile Luggage). Nowadays, mechanical advancements have ended up
being more basic since a significant measure of industry is endeavoring to upgrade their
equipment weapons. This advancement has made well­ordered robots to guarantee a
splendid result. Recently, as time goes by, a huge amount of mechanical robots have
been devised to help social orders running their daily life. Self­balancing robot is truly
an essential machine. It balances itself on two wheels and provides the unique stability
which differentiates it from other ordinary robots.

1.3 Objectives and Deliverables

• Design and Fabrication of Robot chassis

• Design and Fabrication of electrical circuitry of robot

• Self balancing robust control for the robot on two wheels

• Be stable in shortest settling time and smallest over shoot. and not make any large
unwanted movements.

1.4 Market Survey

Robots are the best invention that a human made.We cannot count the benefits of robots
in the industries, society and now also in our homes. Robots are used for the safety pur­
pose and also for the help of disabled person, patients and old person who can not do their
work.Now there are many types of robots that are working properly and efficiently their
work for the humans. A rescue robot is a kind of surveillance robot that has been planned
with the ultimate objective of protecting people. Essential conditions that use rescue.
robots are mining mishaps, urban disasters, detainee conditions, and impacts. Military
robots are free robots or remote­controlled devices proposed for. military applications.

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 Introduction

Such structures are at present being analyzed by different militaries. US Mechatron­

ics has made a working automated sentry gun and is at this moment making it help for
business and military use that can be. worked remotely, and another particularly surely
understood one is The Multi­Mission Unmanned. Ground Vehicle, previously known
as the Multifunction. Utility/Logistics and Equipment vehicle. Overseeing contrasted
scene. puts extra demands on. the mobile robot’s driving force. system, among various
structures. Control organization. and new time drive­plan. structures. utilize moved
materials and especially profitable. Transmissions. to get higher speed, accuracy, and
durability. to work in a broad assortment of conditions. There are various microcon­
trollers. in the market including various types of capacity from fundamental input output
to high end. microcontroller. These diverse sorts of microcontroller are reason made for
general. application. In this examination, we propose building for Raspberry pi. and Ar­
duino UNO based. robot that controls the robot’s navigation and stabilization. Robotics
has always. been played an vital part of the human. psyche. The dream of creating a
machine that. replicates human thought and physical. features extends throughout the
existence of mankind. Growths in technology. over the past fifty years have established
the basics of making these dreams come true. Robotics is now achievable through the
diminishment of the microprocessors which performs the processing and computations.
New forms of sensor devices are being developed all the time further providing ma­
chines with the ability to identify the world around them in so many ways. Effective
and efficient control system designs offer the robot with the ability to control itself and
operate autonomously.

1.5 Industrial Prospective of the Project

Robots play very important roles for the benefits of human beings. Sometimes a person
cannot do work at a certain place like a place where the temperature is very low or
very high but a robot can work easily at that kind of places. We read many research
papers and got much information about the self balancing and the object balancing robot.
So our project is related to design and fabrication of two wheels self­balancing robot.

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 TWO WHEELS SELF BALANCING ROBOT

Figure 1.2: Two wheels self balancing robot

Another motivation is that many disabled persons, patients and old persons can’t do their
work properly. Self balancing robot will help them to do their daily works like taking
something from kitchen or taking medicines from room etc.

1.5.1 Scope

Our project consists of following technical domains:

• Electronics: This includes the methods and approach for control of the robot to
be self balanced. H­bridges and motors connections, motors and motor drivers
connections, sensors and microcontroller are used in the Robot

• Mechanical: This includes designing and development of the mechanical struc­

ture of the robot, this part include basic initial structure of robot, putting two
wheels in the bottom and two layers for assembling the components in the Robot.

• Programming: This includes developing code for PID Controller in MATLAB,

and than making the complete code for balancing purpose of Robot in the Arduino.

• Materials: Selecting the most appropriate material of various parts of device.

Choosing the right material which is good in strength and have least weight to
strength ratio would be our goal.

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 Introduction

• It can be used in small work stations.

• It can balance itself, and carry small loads on it.

• It will take less surface area,its battery is rechargeable.

• It is repairable and affordable technology.

1.6 Description of Block Diagram

The balancing unit contains a microcontroller­ Arduino UNO which runs at 16MHz.
An inertial measurement unit (IMU), a microcontroller, a motor driver and two motors
form the balancing unit. The microcontroller continuously reads the data from IMU and
calculates the angle of tilt of the robot with respect to the vertical. Based on this data,
the microcontroller then sends appropriate control signals to the motor driver to drive
the motors

Figure 1.3: Block diagram of the project

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 TWO WHEELS SELF BALANCING ROBOT

1.6.1 Reference signal

Reference signal is of 90 degree , we want our robot to stand and balance itself at 90
degree . Then the signal go to the summing block and then pass to the PID controller .

1.6.2 PID Controller

Proportional Integral and Derivation (PID) .The part of PID controller is to balance the
robot at 90 degree angle , and to maintain the balance PID controller is used .if error
accured it will take the error value from sensor and remove the error and then pass
PWM to the motor via motor driver.

1.6.3 IMU Sensor

IMU Sensor is used to calculate the error i.e they check the angle of 90 degree of robot
,if there is any error in the set point then it pass the signal to the summing block and then
the signal again pass to the PID controller and this is how self­balancing done .

1.6.4 Disturbance signal

Disturbance is of many types e.g Flow of air that can disturb the robot movement and
balance, push by the hand of human being is also a type of disturbance signal . Sensor
work as feedback and sense these disturbances.

1.6.5 Motors

As the 90 degree reference signal is our input , motors are the output of our systems.
When motors get correct signal according to the set point in the form of PWM the robot
will balance itself if there is an error signal than this output will go to the PID using
sensor to calculate the error and to remove it .

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 Introduction

Figure 1.4: Balancing block of the project

1.7 Project Methodology and Timeline

By switching the ON button the robot will start working. On the very first step it will
balance itself at 90 degree angle which is set in the code in the microcontroller. If it will
not able to balance itself then it will not work further until it will balance itself .Using
PID controller and IMU sensor the error will be remove. After balancing itself it will
start working on the others step , Now it will start moving using the mobile app by using
a wifi module with the microcontroller, also balancing itself at the 90 degree angle.This
process will repeat again until we switched the button .Then if we switched it OFF, the
robot will be Off and it will come to its initial rest position.

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 TWO WHEELS SELF BALANCING ROBOT

Figure 1.5: Flow Chart of the project