Sensitivity to low tolerance mechanical joints (slop). Although some error on the finalĪngle was expected, the magnitude of the error observed indicated the platform design has a high Testing showed the platform to perform as expected. To angle of rotation for the servos to adjust their current position and bring the platform in balancedĬondition. Mathematical function to infer the angle of tilt of the platform. The magnitude of the angle was then compared to a predetermined MEMS gyro in a single chip whose outputs are calibrated properly by using KALMAN FILTER The InvenSense MPU-6050 sensor contains a 3axis MEMS accelerometer and a 3axis The accelerometer and gyroscope to an acceleration and gyro magnitude vector and then converted The software was written with logic to convert the digital data from The platform design is to maintain the platform at an initially selected angle while the support Arduino Uno process the tiltĪngles obtained from MPU-6050 and give instruction to the respective servo motors to rotate byĬertain angle depending on its previous position to balance or control the platform. Servo motors in opposite direction to the movement of the platform. Number of products and processes and has established facilities to meet the emergingīasically auto-stabilizing platform consists of platform which is balanced by movement of three Over the years the institute has developed a Since blossomed into a center of excellence for development of technology and forĪdvanced research in electronics. TheĪctual R&D work started towards the end of 1958. Laid on 21st September, 1953 by the then Prime Minister Pt. The foundation stone of the institute was Controlled Platform Sketch Flow Chart 29ĬSIR-Central Electronics Engineering Research Institute, popularly known asĬSIR-CEERI, is a constituent establishment of the Council of Scientific and Tilt Sensing Using A Three-Axis Gyroscope 25ĥ.1. Tilt Sensing Using A Three-Axis Accelerometer 22Ĥ.3. Final Prototype Of Self-Balancing Platform 29Ĥ.2. Pin configuration of LM78XX series 10įig. Arduino Integrated Development Environment 7įig. Arduino Prototyping Board (Arduino Uno) 4įig. Rajesh Singh Shekhawat (Assistant Professor BKBIET, Pilani) for timely giving the support andįig. Santosh Jangid (Assistant Professor BKBIET, Pilani) and Mr. Solanki (Principal, Academics, BKBIET Pilani)) for his valuable suggestions & Last but not least, I pay my sincere thanks and gratitude Dr. Bhatnagar (Director BKBIET, Pilani) his true help & providing the Without his friendly help and guidance it was difficult to develop this project. Anil Kumar Saini for the help provided in completion of the training, which Me to undergo the summer training of 45/60 days at Central Electronics Engineering Research I would like to express my sincere gratitude indebtedness to Mr. (Affiliated to Rajasthan Technical University, Kota) BIRLA INSTITUTE OF ENGINEERING & TECHNOLOGY PILANI (RAJ.) Submitted for the partial fulfillment of Degreeī. Three-Axis Auto Stabilizing Video Camera Platform In other words, the platform performed greater than the sum of its parts. Overall the platform design was validated based on the positional accuracy of the platform given the low quality components used to create it. Although some error on the final angle was expected, the magnitude of the error observed indicated the platform design has a high sensitivity to low tolerance mechanical joints (slop). ![]() ![]() To angle of rotation for the servos to adjust their current position and bring the platform in balanced condition. The magnitude of the angle was then compared to a predetermined mathematical function to infer the angle of tilt of the platform. The InvenSense MPU-6050 sensor contains a 3axis MEMS accelerometer and a 3axis MEMS gyro in a single chip whose outputs are calibrated properly by using KALMAN FILTER The software was written with logic to convert the digital data from the accelerometer and gyroscope to an acceleration and gyro magnitude vector and then converted ![]() The intent of the platform design is to maintain the platform at an initially selected angle while the support structure orientation changes. Arduino Uno process the tilt angles obtained from MPU-6050 and give instruction to the respective servo motors to rotate by certain angle depending on its previous position to balance or control the platform. Basically auto-stabilizing platform consists of platform which is balanced by movement of three servo motors in opposite direction to the movement of the platform.
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