Vibration Reduction Filter Design for Balancing Control of GYROBO Using an AHRS

This paper presents the application of an AHRS(attitude and heading reference sensor) manufactured for sensing the orientation to measure vibration for the better balancing control of a single-wheel mobile robot, GYROBO. GYROBO uses a gyroscopically induced force to balance. Since the high speed flywheel generates a vibration, the vibrational frequency of the flywheel is detected and a filter is designed to suppress it. The vibration is detected by AHRS. The filter is implemented into the DSP that is the main controller of the robot. Balancing control performances of GYROBO are tested and those with and without a filter are compared. Experimental studies confirm that the filter design through the detection of the flywheel's vibration helps GYROBO maintain balancing better.