The use of Kalman Filter in Control the Balancing Robot

In this paper describes a project of the gimbal which allows stabilizing devices such a video recorder, sport camera or smartphone during recording video clips. Function of this kind of stabilization including photography and robotics was presented in the introduction. As well as, this chapter includes purpose and scope of the each step of a design process. The next chapter is devoted to discussion of existing commercial solutions and specifying their advantages and disadvantages. Constructional features, that were used in the design of the mechanical part, were specified in the predesign phase based on the carried out review. The third chapter is devoted to the full process of designing devices. The first step was to create a mechanical structure in the CAD program, diagnostics of possible constructional errors and then realising a real mechanical system. Next, the author discusses elements of the electrical system and mutual connection and communication. The next part of the thesis is devoted to description of the way of data reading in the used sensors and the way of their filtration. The rest of the chapter is devoted to the control of the mechanical system. Starting from a linearity testing, through a mathematical model identification and at the end carrying out of control of the system both by a simulation and on physical device. The next chapter is devoted to testing control influence on device stabilization quality and correlating the data.