I am trying to build a self balancing inverted pendulum robot. The problems I am encountering are related to the vibrations that are transferred to the MPU6050 which measures the robot’s angle. I have made sure that the sensor is mounted properly and have compensated for the mounting error and I also calibrated it on each axis beforehand. My problem is that the robot almost balances itself but isn’t quite there and I am stumped. No matter how high I set the Kp it just won’t sit upright on its own.
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