Angle measurement for balancing robot.

[uffi]

Henrik,

during the last weekend I had a breakthrough using the kalman filter code you provided here from the nuts&volts article. I got my robot balancing based on combined gyro and accelerometer approach. Up to now I also used only one axis of my 2-axis accelerometer (therefore containing also an error due to the measurement of the robots acceleration itself: this error seems to be filtered away by the kalman code). The regulation is only PD-control, not PID, but I plan to extend it to PID to get better control of absolute position. I have a demonstration video (6MB) which is too large to be uploaded here. If you send me your email address, I will mail it to you.

All approaches based on using only the accelerometer or the gyro were not successful so far: the pure accelerometer approach has a too noisy signal to be used for this kind of control and for the pure gyro approach I was not yet able to really compensate for the drift only by software.

Have fun, Dirk.