Inverted pendulum on a cart

Using a HC-SR04 ultrasonic sensor to track the position of the cart. 

Limiting the minima to 10cm and maxima to 45cm (~10mm clearance)

I used a cardboard cut-out to mount the sensor, and also as a rebound surface, 

Although the least count is 1cm here, the reading seems to be pretty precise.  

Testing the magnetic encoder sensor from seeed with my Inverted pendulum system.

Magnet used: 5mm NdFeB cube Magnet 

Used a basic code of I2C comm. 

The sensor was very accurate and consistent. 

Looking forward to integrate the Ultrasounic range sensor next. 

Inverted pendulum system using a Nema17 stepper motor, driven by Microstep driver

Controlled by a Rotary encoder interfaced using arduino uno.

inferences:

• Better control achieved.

• Pulsed motion.

Further developments: 

• Program modification for smoother motion
• Need to verify structure integrity.
   

Inverted pendulum system using 12V 775 DC motor, driven by L298N motor driver.
Controlled by a joystick interfaced using an arduino uno.

observations:
- Irregular and abrupt motions.
- Motor unable to provide enough torque
- difficulty in precise controlling of the motor

inferences:
- Driver limitations 2A output per channel. Hence, could not provide enough torque for smooth            transmission.
- Mechanism is smooth without the motor involved.

Complete assembly - belt, pulleys and electronics

PETG - 3D printed parts:

1. Pendulum rod holder
2. Motor holder
3. Idler pulley holder
4. Sensor holder

Black parts are 3D printed parts. STL files to be uploaded soon. 

Attaching images of items procured. 

Meanwhile designing models that need to be 3D printed - motor mount, base plate, etc.

Soon to upload CAD models of the setup