Model balancujícího robota

Abstract

The bachelors thesis deals with the design, implementation and programing of a model of a segway balancing robot. The robot design was developed using CAD software and then printed using 3D printing technology. The robot is controled by an Arduino development board type UNO, which controls the direction of rotation of the stepper motors using measured data from the accelerometer and gyroscope. The paper describes the produced circuit board, its 3D model and wiring. The paper also includes simulation of inverted pendulum control using matlab/simulink.