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VertiBOT

vertiCAL.001.jpg VertiBOT
BalancingRobot_schem.jpg VertiBOT
vertibot.jpg VertiBOT
IMG_0693.jpg VertiBOT
pendulum.jpg VertiBOT
pendulum2.jpg VertiBOT
pendulum2.stl VertiBOT
pendulum.stl VertiBOT
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Creation quality: 5.0/5 (1 vote)
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  • 1.3k views
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  • 13 downloads
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  • pendulum.stl
  • pendulum2.stl

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Publication date 2021-02-15 at 09:29
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Published to Thingiverse on: 2013-05-02 at 22:25
Design number 294185
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3D printer file info

3D model description

VertiBOT is an educational project to investigate and understand sensor fusion using kalman and complementary filter algorithm and PID control in an unstable system.

VertiBOT is an inverted pendulum platform that remains balanced by means of two tiny motors, located in the bottom of the structure. The battery is attached in the top of the main body, while the electronics board is located near the rotation axis.

The feedback signal is provided by an IMU 6Dof composed by an accelerometer and a gyro. One ATmega 328 microcontroller execute the main loop every 10 milliseconds. A wireless communication over bluetooth is used to tune and check the signal response in a Graphical User Interface software.

Video: http://youtu.be/A5KtT4GVpx8

Useful info, schematic and code available: http://wp.me/p22sj0-fT

3D printing settings

  • Microcontroller ATmega 328 16MHz (Arduino nano).
  • IMU 6Dof: accelerometer y gyroscope.ADXL345/ ITG3200
  • Motor Driver Pololu Qik2sv1.
  • Bluetooth modem for wireless communication.
  • Potentiometer for PID tuning parameters
  • Buttons for different tasks: algorithm change, calibration offsets ..
  • Voltage regulator (MCP1700) and logic converter .
  • Pololu MicroMetal Motors (50:1)
  • Pololu Wheels 90x10mm

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