Two wheel self-balancing robot using PID algorithm for carrying medicine

Abstract

Self – balancing Robot is a nonlinear and unstable system that has attracted a great deal of attention from researchers.
Analysis of kinematics and dynamic modelling are the basis of research on the two wheeled self - balancing robot, and the
key issue is real - time control realization. Inverted pendulum is the basic concept used in the self - balancing robot. If the
mass force is higher, the wheel axle will be adjusted to maintain balance. A higher mass center implies a lower, more
perfect rate of increase in speed. This kind of robot can maintain its balance without the help of anyone. In this project, a
two wheeled balancing robot is developed for carrying load. Load can be of any household items like cup, plates etc. The
hardware used are MPU6050 board, arduinonano, and L293D driver module. Balancing of the robot is done with help of
feedback and a correction element. Measuring element of acceleration is the board MPU6050 that informs the Arduino
about the robot's current state. The algorithm used for balancing the robot is PID control with Ki, Kp and Kd gains. The
desired value is adjusted by PID tuning to get different values for Ki, Kp and Kd gains. The PID control aims to reduce the
error so that the robot is balanced while carrying the load. MPU6050 measures the angle of robot and gives it to the PID
control algorithm, which demands the DC motor to maintain the robot in upright position. Thus the robot carries the load
placed from the start point to the destination.