Self-Balancing 2-Axis Gimbal

I built this gimbal over the summer of 2026 as a self-directed project. It was inspired by radiation therapy systems like CyberKnife, which combine a fast sensor with a slower, more reliable one to track a moving tumor. I applied the same idea to a 3D-printed servo gimbal, using the Arduino and servo skills from my earlier projects and teaching myself Kalman filtering along the way. The filter fuses the gyroscope and accelerometer readings from an MPU6050 sensor, and a 100 Hz control loop keeps the platform level. In testing, it canceled about 90% of base motion and recovered from sudden 36° tilts in under two seconds. 

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