Development of self-stabilizing platform using MPU-6050 as IMU

Abstract

In this paper, we present the development of self-stabilizing platform using MPU-6050 as the Inertial Measurement Unit (IMU). Using this along with two high torque servo motors and Atmega16 as the main controller, we are able to maintain the platform along the horizontal axis whenever the orientation of the structure changes. IMU is a device which is used to measure positional and angular motion of a body. Here we are using MPU-6050 as an IMU which has an inbuilt accelerometer and gyroscope for providing six degrees of freedom. The logic behind the software part is the conversion of digital data obtained from MPU-6050 to positional acceleration and angular velocities, then filtering the data and computing the orientation of the platform (in the form of angles) using some predetermined mathematical functions, and then converting the orientation to angular rotation and then finally to PWM signals for controlling the motion of the servo motors.