Arduino Project-Self Balancing Robot

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6 жыл бұрын

Arduino Project-Arduino Self Balancing Robot
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In this Arduino Project Tutorial, I Built Self Balancing Robot with Smartphone Control using Arduino Microcontroller.
This Self Balancing Robot is a Two-wheeled Robot that balances vertically using a closed-loop algorithm. This Self Balancing Robot Features various modes like Position Hold, Simple Mode, Rise Mode and Joystick Control. This Robot is controllable by a Smartphone device or a Transmitter. Self Balancing robot uses data from the Accelerometer and Gyroscope to correct its orientation and position.
Instagram- / shinedjar
Facebook- / rztronics
Twitter - / rztronix
Code and Schematics:
github.com/mahowik/BalancingWii
Parts Used:
2 x NEMA 17 Stepper Motor-s.click.aliexpress.com/e/nMVrRJu
2 x A4988 Drivers-s.click.aliexpress.com/e/IAu7QzB
Arduino Nano-s.click.aliexpress.com/e/Vrz37a2
Lipo Battery-s.click.aliexpress.com/e/2VnyzNz
HC-05 Bluetooth Module-s.click.aliexpress.com/e/i66EAQV
GY-521 Module-s.click.aliexpress.com/e/JAYfAaA
Prototype Board-s.click.aliexpress.com/e/niAE6mI
10cm Wheels-s.click.aliexpress.com/e/y7eYVzj
M5 Rod-s.click.aliexpress.com/e/FybiEQV
Angle Brackets-s.click.aliexpress.com/e/ieaeAMr
Screws and Nuts-s.click.aliexpress.com/e/ufIYje2
s.click.aliexpress.com/e/ZrnuNzZ
Music-
Classic by Joakim Karud
• Classic (Loudness & Cl...

Пікірлер: 986

@diyowl5496 6 жыл бұрын

For some reason, this video looks very aesthetic and professional. Keep up the amazing work. Subscribed!

@Tjup 4 жыл бұрын

the shematic is wrong, the bluetooth only get voltage, and nothing more

@TheModmod 5 жыл бұрын

most people who watch content like this are very interested in how this is actually made, so if you could go through more technical details about the arduino shields used and the code and the wiring itll be much more appealing

@stewartzayat7526 5 жыл бұрын

Yes! Please!

@fernandolozano9898 4 жыл бұрын

Agreed.

@isaacprosper6295 4 жыл бұрын

I agree,my guy please get to the details

@pritigangavkar2898 3 жыл бұрын

I made this robot.I did it.

@hassanniaz7583 3 жыл бұрын

@@pritigangavkar2898 Here's your medal 🏅🏆

@ejikenwaeze5979 6 жыл бұрын

I love the video quality. Seems somewhat professional. Please post more consistently if you want to succeed at KZfaq, bc I know you would

@ejikenwaeze5979 6 жыл бұрын

Technical & Mechanical Guruji BC = because

@dineshkumark2940 5 жыл бұрын

@@UTechTuberdude

@edgaromarreynatorres3940 5 жыл бұрын

What does bc means?

@braziliancountryball186 2 күн бұрын

@@edgaromarreynatorres3940bc means because

@christianclement8732 5 жыл бұрын

Bravo (in french) ! Could you please add a picture of the pcb after all soldering is done ? This will be very helpfull for me who is not a great electronician ! Thank you very much.

@eToroBoT 5 жыл бұрын

a lot of builders on YT need to learn from your video quality

@sumithaibrahim6441 6 жыл бұрын

I love this video because the video quality is super and the song and sound make us to listen to it and the project is awsome so all the best to future

@TheSaitrus 5 жыл бұрын

Balances a lot better than the Boeing 737 MAX.

@mr.boombastic8612 5 жыл бұрын

69 likes and no comments

@mr.boombastic8612 5 жыл бұрын

69 likes and no comment

@jordanbooth795 5 жыл бұрын

@@mr.boombastic8612 Can you not delete comments?

@jordanbooth795 5 жыл бұрын

You realise it wasn't a balance issue that caused two of them to crash.

@t.josephnkansah-mahaney7961 5 жыл бұрын

Kimmo Too soon?

@ayubsunarya6284 5 жыл бұрын

Try adding PID transfer function to avoid the wiggling movement. Than you will get smooth balancing. Great project btw!

@finnbsch 4 жыл бұрын

How will the integral part help?

@isaacprosper6295 4 жыл бұрын

Damn geniuses,what I'm I doing here

@gamingfeeling5511 3 жыл бұрын

@@isaacprosper6295 error_prior = 0 integral_prior = 0 KP = Some value you need to come up KI = Some value you need to come up KD = Some value you need to come up bias = 0 (see below) while(1) { error = desired_value - actual_value integral = integral_prior + error * iteration_time derivative = (error - error_prior) / iteration_time output = KP*error + KI*integral + KD*derivative + bias error_prior = error integral_prior = integral sleep(iteration_time) } Really simple edit: thats pseudo code btw

@xeither289 10 ай бұрын

GOD JESUS TOLD US TO LOVE GOD AND TO LOVE ONE ANOTHER! LET'S NOT DESTROY THIS WORLD! NO WAR!!! БОГ СОЗДАЛ ТАКОЙ ПРЕКРАСНЫЙ МИР! НЕ БУДЕМ РАЗРУШАТЬ МИР! ПОЛЮБИМ БОГА И ВСЕХ ЛЮДЕЙ! НЕТ ВОЙНЕ!!

@xeither289 10 ай бұрын

@@finnbschGOD JESUS TOLD US TO LOVE GOD AND TO LOVE ONE ANOTHER! LET'S NOT DESTROY THIS WORLD! NO WAR!!! БОГ СОЗДАЛ ТАКОЙ ПРЕКРАСНЫЙ МИР! НЕ БУДЕМ РАЗРУШАТЬ МИР! ПОЛЮБИМ БОГА И ВСЕХ ЛЮДЕЙ! НЕТ ВОЙНЕ!!

@rahulvaity8528 6 жыл бұрын

Nice video quality and excellent job

@hvdub754 5 жыл бұрын

please post more!!!! amazing production quality!

@mattm7482 5 жыл бұрын

Can you describe the design and the function of the modules briefly ? That would help attract more views, I would prefer some technical details.

@YasinHasan 5 жыл бұрын

now add follow me function, so that i can keep it as a pet

@matrixate 5 жыл бұрын

Exactly everyone's thought but unfortunately, that will have unexpected results and accidents, especially in public. Honda already has that in a following motorcycle. See here: kzfaq.info/get/bejne/hdGWZZtkqNqRfo0.html

@kadenzxc 5 жыл бұрын

Awesome job! I'm working on a balancing robot myself at the moment. Still stuck in the math though. My approach uses 15 state variables in the model right now :'( But I'd really like to keep things like wheel inertia in the picture; I think my MCU is fast enough to handle it.

@rakhigupta8310 5 жыл бұрын

Please try to add a proximity sensor to this. Hope you will do it.😊

@gazvlogs7459 5 жыл бұрын

More flux and a little bit more heat and you will be pleased, great quality right here!

@thunderbolt997 5 жыл бұрын

woah woah easy on the soldering iron flexing haha :D great vid

@trinston13 5 жыл бұрын

Now how do I make it autonomously follow me around so I don't have to carry multiple shots to my friends?

@aadityadhruve172 5 жыл бұрын

Excellent job done. Very neatly explained all the stuf

@jackdiamondsa4298 5 жыл бұрын

now this is how u make a video , keep it up mate

@ABID5 5 жыл бұрын

Very well done.Good filming and transitions.

@MegaClaudj 6 жыл бұрын

beauty project ¡¡¡¡

@nalini6920 5 жыл бұрын

It is not complete Schematic, bluetooth pin conection are not shown there

@andydoddington2993 4 жыл бұрын

Yup - it's being powered but not used - very confusing :-(

@princepakistan2810 3 жыл бұрын

Froud

@alterntech 5 жыл бұрын

just open the zip file and up load the sketch.. How can it work without testing the MPU6050 for offset values to calibrate the gyro/acc module??

@Medos996 2 жыл бұрын

I think there is a mistake in the schematic image, you are supplying the arduino 12v from the 5v pin and getting 5v from the VIN pin which should be the other way around ( you supply 12v through the VIN pin and you get 5v from the 5v pin)

@Gabrozzooooo 5 жыл бұрын

where can I find all the measurements? (of the pcb to be cut and the length of the threaded bar)

@christianclement8732 5 жыл бұрын

Evaluating the number of holes in the pcb board, I estimated the following size : 16.5 x 8 cm. Concerning the threaded bar, I used a 1 meter rod => 25 cm for each rod.

@Seedx 5 жыл бұрын

How big do you think this is?

@yanin68 5 жыл бұрын

How does the bluetooth work if it's not connected anywhere?

@connorwatson7162 5 жыл бұрын

it states that it's connected to TX and RX on the documentation online

@99desi9n 10 ай бұрын

This is amazing. What weights would it be able to handle, or should you use a bigger motor for weights over 60kg?

@mahovvik 4 жыл бұрын

Nice to see that someone successfully repeated my project! :) BTW why turn right/left is not on the video? You got some issues with that?

@cherifaidara4244 5 жыл бұрын

Nice but you should add a turning function with the motors

@TheDutchGamingBE 4 жыл бұрын

Yeah if you can combine this part with pieces of an autonomous arduino car that'd be way better

@RajendraVermaa 6 жыл бұрын

Thank you for the wonderful video again. I was finally able to make the complete project with some minor modifications. The GY521 module must be placed as high as possible from the ground rather than on the PCB which is in the middle shelf. The EZ-GUI settings especially the PID should have been touched upon also. Without this input making the robot may be frustrating for the inexperienced. I had to do a lot of tweaking to finally get it balancing properly. It was a great learning experience. Keep on uploading such videos.

@rajvanshsingh770 6 жыл бұрын

PLEASE GUIDE ME FOR THIS PROJECT IS NOT WORKING AS GUI RECEIVING NO DATA

@RajendraVermaa 6 жыл бұрын

Rajvansh Singh Please set the Bluetooth HC 05 module baudrate to 115200. Just Google for the procedure.

@raahimimran6937 5 жыл бұрын

How many mah of the battery is used?? Please reply....

@LeoL123 5 жыл бұрын

Could you tell the PID configuration? I have done this project, but the wheels keep turning for a while then vibrating.

@shwetasingh773 5 жыл бұрын

Rajendra Verma can u plz tell me how to change hc-05 baud rate

@wrxsubaru02 4 жыл бұрын

I have an idea for you... You should add a mini 3d printer on top of this to blow everyone's mind. Maybe make it out of CD linear parts so its nice and compact.

@muhammadusmanmalik1166 5 жыл бұрын

Excellent Video Bro showing ur excellence and ur skills

@hamidhamouchi4437 5 жыл бұрын

Great Job Bro ! When I connected the application EZ-GUI to the HC-05 Bluetooth Module, I don't found parameters "AUX" (it's empty !!! ) How I can resolve this problem plz ? Thanks !!

@buudang1997 5 жыл бұрын

Hamid Hamouchi me too :(

@jaykumarvora2156 5 жыл бұрын

@@TrungNguyen-mg9ko same bro

@MichaelProds99 5 жыл бұрын

Did you solve it?

@vuongnguyenhp234 5 жыл бұрын

me too

@autism2219 5 жыл бұрын

do u solve it bro?pls reply me

@bebek1993 6 жыл бұрын

But can it run Crysis ?

@danielwatts3718 5 жыл бұрын

Great video, fantastic production quality

@alimahmoud8708 2 жыл бұрын

Great work man! I got a question, What were the criteria used in evaluating the control algorithm?

@rollielyncoro95 5 жыл бұрын

Whats the value of the capacitor

@bindus3939 6 ай бұрын

50v 100uF

@khalilbensalah6529 5 жыл бұрын

hey i have a problem in compiling the codes please helpp

@cai0_o 5 жыл бұрын

what is your problem?

@khalilbensalah6529 5 жыл бұрын

@@cai0_o soory it no thé codes I gant find mpu6050 Can i use another one like adxl345 ?

@SaiKumar-tl5tz 4 жыл бұрын

bro did ur code worked?

@gamenzo7608 5 жыл бұрын

You are a genius. thanks because your video helps me in another project

@Culturedropout 6 жыл бұрын

Very nicely done, although I'd be worried about the motor mounts snapping the plexi under too much torque.

@xeither289 10 ай бұрын

@mohit-gs3ql 6 жыл бұрын

Can you please give me the circuit diagram?

@RZtronics 6 жыл бұрын

Link available in the description.

@mohit-gs3ql 6 жыл бұрын

RZtronics ok thanks

@MrBLUE-qw9xf 5 жыл бұрын

RZtronics how can i change the values of pid please sir help me

@sanupamu 6 жыл бұрын

What is part of hc05 its not connected any where. Except power

@RajendraVermaa 6 жыл бұрын

Connect to nano pins TX and RX, need a voltage divider. Just google

@sanupamu 6 жыл бұрын

Rajendra Verma thanxs

@rockin123ricks 6 жыл бұрын

Its a bluetooth module to connect to the phone

@pradeepavenkatesan1744 5 жыл бұрын

@jaykumarvora2156 5 жыл бұрын

@@RajendraVermaa bro plss mail me the proper circuit diagram ..have tried this circuit couple of times @jvora443@gmail.com

@porteenbois503 5 жыл бұрын

I love this sound !

@prasangjain3932 6 жыл бұрын

I m making a quadcopter with the help of MPU 6050 so when motors are activated the angels of x and y are showing sudden high changes in angles so the motors are having uneven speed so can u tell me the solution for balancing it properly I think these variations may be because of vibrations catched by gyro

@johnsunlight 5 жыл бұрын

Cool, until some guy from Boston Dynamics shows up and kicks it over.

@brainmind4070 5 жыл бұрын

Cool project, but it would be more stable if the sensors were right on the underside of the top surface. They should be as high as possible to minimize that wobbling. A note on the video: I found the extremely repetitive music to be obnoxious. Three 15 second ads might have been a bit much, too.

@Demonade_ 5 жыл бұрын

Great. All you need to do now is make it 1 wheeled.

@domobrah2671 5 жыл бұрын

I feel like I'm watching a chef cook a gourmet meal

@paulfilliette9855 6 жыл бұрын

nice!! can he turn?

@RZtronics 6 жыл бұрын

Yes, It Can.

@paulfilliette9855 6 жыл бұрын

RZtronics cool

@AnkitDubey-ru9jb 6 жыл бұрын

What is the reason behind balancing ?

@darwinborines1073 5 жыл бұрын

accelerometer

@yugeshkeluskar 5 жыл бұрын

It uses the principle of inverted pendulum

@aok76_ 5 жыл бұрын

Uses a microcontroller to counteract tipping by actuating the motors with a necessary torque; it uses a negative feedback loop to decide.

@berkayavc1625 4 жыл бұрын

can we use tt motors instead of step motors????Because tt motors are cheaper than step motors...

@omar-dj1pz 3 жыл бұрын

Excellent job but I have a question what is the Spécifications of the capacitor ?

@ryushogun9890 2 жыл бұрын

Do you guys thing electronic pieces we use for every electronic device can be refined and built differently with more efficiency in some way? Asking as a noobie. They were invented by really competent people but aren't us too accommodated to their efforts and that is making it more difficult to get a home labor robot?

@alerey4363 5 жыл бұрын

nice, some real time (closest you can get with an arduino at least) real world project!

@sachinjain890 5 жыл бұрын

as we are manually soldering the pcb , so chances of short circuit of lipo battery are there, right?

@PhG1961 6 жыл бұрын

Great video ! Excellent work !

@user-tt3dz5qv7d 5 жыл бұрын

Thanks a good video!! I have a question. The buzzer is known to be connected to PWM. Is A2 also a PWM pin?

@bhanushreer8684 Жыл бұрын

It was really nice sir can u upload the picture of the soldering which u completed with the connection of the soldering so we can easily see and we can also solder

@teodoralilianajitca2890 2 жыл бұрын

Hi! I have been trying for some time to complete the robot project but I am not able to connect the robot with the application "no data received". I changed the baud rate through AT commands to 115200. How can I solve this problem?

@canhchimhaiau597 5 жыл бұрын

I really like it. Hope for more young people can see it and take out more Idea.

@showliricopopular4824 3 жыл бұрын

Excellent video! I have downloaded and installed the EZ GUI APP, version 4.5.450, but the AUX button does not appear on the configuration screen. In its place appears another called MODES, but also the interface is quite different from the version you use in your video, and since it is free it does not allow me to save the changes. Could this be because my version of Android is outdated? Is the version you use free or paid? Thank you…

@billhickswasgreat3421 4 жыл бұрын

I cant seem to find the wheels, the link provided leads to another item, does anyone have suggestions where I can buy similar wheels in the UK?

@MikeysLab 5 жыл бұрын

Think i will build something similar in the lab for my April video :) thanks for the inspiration.

@jesseschultz6512 5 жыл бұрын

Try modern control laws. Watch the double pendulum and triple pendulum balancing vids. Pretty neat stuff.

@MikeysLab 5 жыл бұрын

@@jesseschultz6512 That sounds like a good challenge, I will also use a NodeMCU programmed with Arduino, using VisualMicro to give me a lot more processing power :) I am looking forward to this one.

@djtoddles8750 5 жыл бұрын

Very impressive, thanks for sharing this

@praints 5 жыл бұрын

what do you call those pin extenders that you put your nano and drivers in?

@calendil 5 жыл бұрын

Excelent song btw :)

@michaelbayer5887 4 жыл бұрын

... stand Up - stand Up and Balance. Super.

@Chromodynamics 5 жыл бұрын

Pretty clean shave and neat

@RajendraVermaa 6 жыл бұрын

Excellent, 10 out of 10.

@nazra3568 6 жыл бұрын

this is so cool! love how the video is designed. how long did it take you to do this?

@nazra3568 6 жыл бұрын

also very cool project in general, have you ever posted any of these on the ProjectBoard?

@tinkerguru2895 5 жыл бұрын

Cool balancing is perfect

@chandraprakashs9327 5 жыл бұрын

project and video presentation is excellent

@armirjemini8109 Жыл бұрын

7:17 , How to connect EZ-GUI with HC-05 Module , my phone cannot find the module , what should I do?

@ssahinnkadir 4 жыл бұрын

Hey RZTronics, I couldn't find the 2A 59 N.cm stepper motor and the 10 cm diameter wheels anywhere. 😔 Could I use a step motor 1,2-1.8 Ampere 30-45 N.Cm and 8,5 cm diameter wheels for this project?

@leandro-sausa 4 жыл бұрын

Hello, Would it be possible to use a Nema 17 8V motor? What do I need to change?

@danielbenisti3664 5 жыл бұрын

you are amazing and very tallented!!

@user-lv9ut4ol6l 5 жыл бұрын

quality video!!!! so great. from VietNam

@DanielGonzalez-mv7fi 2 жыл бұрын

Hi…- My balancing robot has a good balance but I can't get it to remain static, maintaining the position, that is, it doesn't return to the center. It runs very fast in one direction, almost always the same. What can be causing this? Thank you very much...

@gauravnawale3352 4 жыл бұрын

I am building similar robot using MPU6050, but my sensor starts giving very wrong outputs when it is subjected to vibrations due to stepper motors, please suggest me something to solve this!

@babbalgts 6 жыл бұрын

Whats the logic behind truning..? I know you decrease the power in one of the motors...but its not working...

@threesecondreview1726 4 жыл бұрын

Is there a way to do this without any soldering? I shake too much to solder.

@dkmodder4405 5 жыл бұрын

Hey RZtronics! I have a question; how did you learn how to build electronics and where should a beginner like me start self-learner. Can you reccomended resources or products I should get? Thank you!

@ammaryasser4730 5 жыл бұрын

You can learn from the official arduino site!

@Pluslineee 6 жыл бұрын

is it possible do the same project but using differents motors (Motor DC 6V 210RPM ) and using just one module for both motors??

@adityahackker 4 жыл бұрын

What is the name of the board used for the first and the last level/floor of the self balancing robot

@SamuelWallsJames 5 жыл бұрын

Practicing for the Falcon 9!

@princepakistan2810 3 жыл бұрын

Why you not connet blue tooth tx rx terminals? Tell me and look at your sachmatic diagram 2:58

@caseyngo4092 4 жыл бұрын

Can you put a new link for the angle brackets? The one listed is unavailable.

@saladino-3974 6 жыл бұрын

Buen proyecto, y como hago para controlarlo desde el Transmisor que pines del arduino conecto al receptor.

@stjepanstrmecki243 5 жыл бұрын

@RZtronics is it possible for you to provide me vith a PCB scheme for this... I"ve tried to do im myself from your picture in altium designer but i keep failing, i want to put it all on a circuit board but i just cant seem to make it work. I"ve even burned some components in the proces so i hope you could help me out

@vinithviswanathan3083 4 жыл бұрын

Can you actually connect the HC 05 to the EZ-GUI app..its saying no data recieved for me.can you help me in this?

@_aawawaa_ 5 жыл бұрын

the schematic in your website is incomplete, the hc-05's rx tx is not connected to anywhere

@danielzuniga4544 Жыл бұрын

Se puede usar una batería normal no? Es muy caro el lipo, aunque no sea recargable

@messierthirtyone777 4 жыл бұрын

Can someone point to the theory of this? I know this is based of the concept of inverted pendulum. But would like to know how do we arrive at the size of the robot? Why is it the height it is and why not shorter or taller? what factors/dimensions influence its cg?