4.8 | 6 ratings Rate this file 932 downloads (last 30 days) File Size: 3.84 MB File ID: #19147

NXTway-GS (Self-Balancing Two-Wheeled Robot) Controller Design

11 Mar 2008 (Updated 28 Nov 2008)

NXTway-GS Model-Based Design based on Embedded Coder Robot NXT.

File Information
Description	NXTway-GS is a self-balancing two-wheeled robot built with LEGO Mindstorms NXT and a Hitechnic gyro sensor. This demo presents sample models and documents describe the following contents. How to Build NXTway-GS Mathematical Dynamics Model of NXTway-GS Controller Design for Balance and Drive Control NXTway-GS Model Illustration Simulation and Experimental Results You can simulate NXTway-GS model and generate controller program that can be executed on the NXT. Furthermore, you can watch the movies of NXTway-GS simulation and control experiment at the following URL. http://www.youtube.com/watch?v=EHPlGTLQHRc http://www.youtube.com/watch?v=4ulBRQKCwd4 This demo uses Embedded Coder Robot NXT Demo as MBD environment. You need to download it from the following URL before trying this demo. http://www.mathworks.com/matlabcentral/fileexchange/loadFile.do?objectId=13399&objectType=file <Disclaimer> LEGO(R) is a trademark of the LEGO Group of companies which does not sponsor, authorize or endorse this demo. LEGO(R) and Mindstorms(R) are registered trademarks of The LEGO Group.
Acknowledgements	The author wishes to acknowledge the following in the creation of this submission: Embedded Coder Robot NXT Demo
Required Products	Control System Toolbox Fixed-Point Toolbox Real-Time Workshop Real-Time Workshop Embedded Coder Simulink Simulink Fixed Point Virtual Reality Toolbox
MATLAB release	MATLAB 7.5 (R2007b)
Other requirements	nxtOSEK, Cygwin, GNU ARM
Zip File Content
Other Files	nxtway_gs/models/nxtway_gs_plant.mdl, nxtway_gs/models/mywritevrtrack.m, nxtway_gs/docs/NXTway-GS Building Instructions.pdf, nxtway_gs/models/nxtway_gs_vr.mdl, nxtway_gs/models/nxtway_gs_controller.mdl, nxtway_gs/docs/NXTway-GS Model-Based Design.pdf, nxtway_gs/docs/, nxtway_gs/models/param_nxtway_gs.m, nxtway_gs/models/vrnxtwaytrack.wrl, nxtway_gs/models/track.bmp, nxtway_gs/models/param_plant.m, nxtway_gs/models/, nxtway_gs/models/track.wrl, nxtway_gs/models/param_controller_fixpt.m, nxtway_gs/models/nxtway_gs_controller_fixpt.mdl, nxtway_gs/models/param_sim.m, nxtway_gs/models/iswall.m, nxtway_gs/models/param_controller.m, nxtway_gs/models/nxtway_gs.mdl

Tags for This File
Everyone's Tags	control, embed, embedded code, lego, legway, mindstorms, model(2), modeling, nxt, nxtway, realtime workshop, robot, segway, verification
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Comments and Ratings (6)
11 Mar 2008	Diego Barragán	Nice
17 Mar 2008	Anas Obeidat	it's Excellent Simulation to NXT robot and Documentation is perfect.
28 May 2008	Tatsuya Kikuchi	I watched the Self-Balancing Two-Wheeled Robot at Embedded Systems EXPO in Tokyo. It looked like a clown on a monocycle. I think this robot is joyful study case for students.
22 Jun 2008	CHENMIN CHENMIN
29 Jun 2008	CHENMING CHENMING
16 Jul 2008	yipeng tang

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Updates
07 Nov 2008	1.0 : First edition 1.1 : Added fixed-point controller model 1.2 : modified motion equations
11 Nov 2008	1.2+ Add an annotation to download the generated code into NXT standard firmware
28 Nov 2008	Modified the generalized forces and state equations. Added simulation movie

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