A New Take on the Inverted Pendulum Robot

Check out my new brushless motor controller for robotics: https://tinymovr.com

This is an inverted pendulum robot (balancing robot) with a few innovations. Instead of brushed DC or stepper motors, brushless servomotors are used, with an ODrive for motor control. Lengthwise balance is maintained using a Model Predictive Controller running at 200 Hz on a Raspberry Pi 3. Onboard the ODrive also runs an anticogging algorithm. Cogging torque is a characteristic of low-cost brushless motors with an iron core due to magnetic interaction between permanent magnets and iron, and results in uneven motor movement especially in current control mode.

For more projects and tutorials, checkout my blog https://backyardrobotics.wordpress.com

Видео A New Take on the Inverted Pendulum Robot канала Tinymovr