Rancang Bangun Robot Keseimbangan menggunakan Sensor Mpu6050 Berbasis Atmega328.

Abstract

It has designed a robot that can balance and maintain a stand position with two wheels or often called a self-balancing robot. The robot has been designed to keep its position in a balanced position by way of forward and sliding. In order for the robot can memperhanakan position then it takes accerlerometer and gyroscop sensor which then output from the sensor is combined with the complamantary filter equation to get the actual angle. Motor movement can be smoothed with a PID control system. In this study the robot can stand in balance by maintaining its position -5o to 5o and can be controlled forward, back and back android through the android.