This project focuses on the development of a Two Wheels Balancing Robot. In this project, ATMEGA 16 is chosen as the brain board controller to react towards the data received from Balance Processor Chip on the balance board to monitor the changes of the environment through two infra-red distance sensor to solve the inclination angle problem.
Hence, the system will immediately restore to the set point (balance position) through the implementation of internal PID algorithms at the balance board.
This is a very simple robot that uses a simple switch as a sensor and stands on only two wheels with inverted pendulum mechanism. When the robot is going to fall the motor starts and moves the robot to the direction it is going to fall, so the motor torque about the center of gravity that is higher than the motor makes the robot balanced.
In this project, we are using one accelerometer for balancing the robot. The accelerometer is connected to ADC of Microcontroller. We are continuously monitoring the accelerometer values. As the value is change we take some action according to our project. For driving DC motors we are using L298 motor Driver IC. And we are also connected one LCD for testing. All blocks are shown below in block diagram.