Self-balancing robot on mecanum wheels. Балансирующий робот на всенаправленных колесах.
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- Опубліковано 18 січ 2024
- This robot was made by me completely from scratch. I used 4 omnidirectional wheels, 4 stepper motors, Arduino nano as the main microcontroller, a4988 driver, mpu6050 accelerometer-gyroscope. This robot constantly balances and can move not only forward/backward and rotate around a vertical axis, but also move sideways. I was inspired by the idea of this robot after seeing a video from the @Gotchau channel and decided to repeat this project from scratch. Below is a link to his video:
• Робот балансир на коле...
#arduino #robot #electronic
The 4 omnidirectional wheels give your balancing robot a whole new dimension! Very stable. Love the sound!
Now develop a walking pattern, where the steppers play metalica songs.
Walking pattern that plays walk
If Daft Punk was a Star Wars droid.
I like the sounds it makes
wow, what a cool concept😍
ABSOLUTELY AMAZING
Jamiroquai in robot form! I love it
The balance is really good
Very nice, would love to see a much larger version of this bot.
Very cool!
nice sounds, feel like you can make a rap mix with it.
I love it!
Maybe having a slight dead zone when it's balanced would help with the grinding vibration noise? Sounds like the rate of the motors changing directions rapidly increases when it gets to a zero point in terms of balance. Good job btw, looks dope. :)
Thanks). Adding a dead zone will not change much and will probably add even more instability to the system. Stepper motors rotate at a fairly precise speed and can rotate stably at ultra-low speeds, and a dead zone is added when using brushed motors with gearboxes, which begin to rotate at a certain speed. The grinding sound comes from the yellow rollers (their internal diameter is slightly larger than the axis itself). There are two reasons for this:
1.The pitch division of the motors is quite low (as far as I remember, 1/4), and they do not rotate very smoothly (due to the lack of computing power of the Arduino, I cannot set it to 1/16 because it cannot provide pulses of the required frequency for 4 drivers, or I don’t know how to program it😅).
2.The value of the proportional coefficient of the second PI controller for software compensation for the displacement of the center of mass is quite large, so oscillations appear near the zero balance point.
Hi! Looks awesome and very familiar. Thank you for sharing video :)
Ого, привет, не думал что заметишь). Спасибо. Классные видео снимаешь, когда выйдет новый видосик?)
@@aramdavtyan6130 Как только увидел в ленте, сразу ткнул)
Когда следующее видео не знаю, оч сильно загружен, времени нет
Wow😮. Super👍👍👍
Brooo this is trippy
Moves like the Contra boss
I could listen to that all day. That ism making 🎶🎵🎶🎵 🤯 like it actually sounds nice, what the hell 😅
Apart from that the mechanum wheels balancer 👌 It seems so solid and dialled in!
Did you use PID loop for pitch and another PI for speed and one for yaw? Or😶LQR?
Thank you. I used two PID controllers: one to maintain a given angle by adjusting the speed of rotation of the wheels, the second to adjust the given angle itself to compensate for the displacement of the center of mass. The code is not perfect, and the video shows that it does not work very well (at least I don’t really like it), I wrote the code myself and this is my first project of this level of complexity)
@@aramdavtyan6130 I'm on the path to attempting my first two wheel balancer now, so I have been looking at a lot of them recently and most of them at that same size are not as stable as yours! 😁
I'm going to try doing it with normal wheels but with brushless motors and and encoders and small "FOC" driver boards.. something like small version of O-drive.
Further, if I get that far I'll use it as a platform with a Raspberry Pi and OAK-D lite to make it obstacle avoid and speak with a local small GPT model... and some crazy eyes of course 👀👀👀
@@laoch33very cool! I wish you good luck in creating the project, and that the code works the first time😁.
@@aramdavtyan6130 Hahhaa! Thank you. I'll be happy if it works on the 1001th time 😂
✌️
Mozgan
What did you use to control 4 stepper motors? Arduino motor shield ? But it can control only 2
No, I did not use an arduino shield, I designed my board to install an arduino nano, 4 stepper drivers, mpu6050 and nrf24l01.
I am trying to imagine how well I could do on omnidirectional roller skates.
Bro plz make a detailed tutorial about how did you make it
maybe:)
Where can I learn to build things like this? No engineering background so I am lost where to even start.
I myself do not have a special engineering education, I am just entering university. And I learned all this, oddly enough, on the Internet) It’s better to start with soldering, and if you already know how, then study electronics, 3D modeling, programming microcontrollers (for example Arduino), study the principle of operation of various devices, for example, stepper motors that are on my robot. But it's better to start simple.
ngl i thought those mecanum wheels were made out of noodles for a second.
Well, yes, they are made from special technical pasta and have good grip on the surface)😉 Okay, I was joking, they don’t have good grip😁
Воу, а что за микроконтроллер использовал?
ардуинку нано на atmega328p, но потом пожалел😅
James literally coppied this and made it huge 😂
How did you get the nrf24 to work?
I used the rf24 library for the nrf24l01 module in arduino ide.
Does the self balancing feature drain extra battery?
Sorry, I didn't quite understand your question
Compared to say a 4 wheel robot, where essentially no power is required to keep the robot upright.
The stepper motors installed on my robot consume electricity regardless of whether they are spinning or not, unless, of course, a signal is sent to the drivers to turn off (I do not have this signal). In hold mode (when it is not spinning), the motor consumes slightly less than when spinning (depending on the driver setting), but there is still consumption. Therefore, the difference in power consumption between a balancer and a 4-wheeled robot due to balancing is, I think, very small when using stepper motors, but if on a 4-wheeled robot you turn off the steppers when they are not rotating, or use other motors, then yes, there will be a difference.
@@aramdavtyan6130 Oh interesting. Perhaps stepper motors are better suited for this application, as other motors like servo don't really like being stalled.
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