Balancing robot design and modeling

In this study, a two-wheeled balance robot was designed and its simulation was made in Matlab program. The study was compared to the available studies in literature and it was revealed through the acquired data that its programming and working precision was better than the others. As in other studies, the inverted pendulum system was used as the testing apparatus and the balance robot was designed and modeled within this scope. In the design phases of the study in this thesis, the inverted pendulum system and three dimensional drawing of the balance robot were first prepared using Solidworks program. Next, the designed balance robot model was transferred to SimMechanics interface in Matlab/Simulink program and the necessary block diagrams were formed. The designed balance robot was checked with PID control unit and "PID Tuner" in Matlab/Simulink was used to determine the parameters of PID. The control parameters of the balance robot designed in this way were adjusted and applied on the system. The simulation of the system was made in computer environment and the acquired data were evaluated and presented in this thesis study. The acquired data will contribute to the design of more practical and stable balance robot models. Keywords: Inverted pendulum, Balance robot, SimMechanics, PID controller