3D-Printed Self-Balancing Robot Brings Control Theory To Life
roboticscontrol-theorypidraspberry-pidiy
Abstraction: DIY two-wheeled inverted-pendulum robot implementing PID control theory
Key points:
- Builder Limenitis Reducta designed a two-wheeled self-balancing robot (inverted pendulum) using Fusion 360, a 3D-printed body, and rubber-banded wheels for traction
- Electronics: two stepper motors driven by a DRV8825 driver, an MPU-9250 IMU (accelerometer + gyroscope) for angle/acceleration measurement, and a Raspberry Pi Pico running Python
- Control loop is a PID controller — proportional, integral, derivative gains are tuned to match the physical system, a textbook control theory example
- Bluetooth connectivity allows steering from a PC or smartphone
- All design files and source code are open-source on GitHub; the project serves as a hands-on entry point to control systems theory
Connections: Raspberry Pi · Control Theory · Pid Controller · Robotics
Source: https://hackaday.com/2022/12/27/3d-printed-self-balancing-robot-brings-control-theory-to-life/