SELF BALANCING ROBOT CONTROLLED BY BLUETOOTH MODULE

To make a robot that can balance on two wheels. There will be only one axle connecting the two wheels, and a platform will be mounted on that. There will be another platform above it. The platform will not remain stable by itself. The functioning of the device is to balance the platform using distance sensors as Gyroscope sensor (Gyro MPU6050) and to maintain it horizontal. Firstly to just balance the robot on its two wheels,if the platform inclines, then the microcontroller (in this case, an Arduino Nano) will send signals to motors such that motors will move forward or backward depending on the inclination direction and extent. Balance of the robot was achieved by using a Proportional-Integral Derivative (PID) controller with inputs from a gyroscope and accelerometer. Stepper motors were used to maneuver the robot. A two wheeled self- balancing robot builds upon the inverted pendulum principle, if F is the force applied, φ is the angle from the equilibrium. When a tilt from the equilibrium occurs the motors will generate a torque that drives the wheels in the same direction as the tilt. The wheels will move the same distance as the centre of gravity in order to maintain balance. In order to achieve forward movement, the angle set point will be increased, changing the equilibrium point. A self-balancing robot is creating a robot that is a replica of a human body. Traditional robots consisted of four wheels, were easily stabilized, and were comparatively bigger in size. A traditional robot uses four wheels and four motors for movement, while a self-balancing robot uses only two wheels and motors for movement. A very famous application of the self-balancing robot is the Segway. Segway has been readily available on the market since 2011 and is also termed a "human transporter". It is used mostly to cover shorter distances.It has also become great consideration as a research entity because of the unstable character of the system. The two-wheel self- balancing robot is based on the fundamental principle of Inverted pendulum. Inverted pendulum has many practical applications such as human walking robots, missile launchers, earthquake resistant building design etc. Development of control system for a two-wheel self-balancing robot has been a huge area of research for the past few years. This is mainly due to its nonlinear dynamics. It became an important test platform for the design and development of missiles, automobiles, space crafts, robots.