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

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

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. 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/13399  
 
<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, NXT SCARA (Two-Link Planar Robot Arm) Controller Design, NXT Ballbot (Self-Balancing Robot On A Ball) Controller Design
This submission has inspired the following:
NXT SCARA (Two-Link Planar Robot Arm) Controller Design, Embedded Coder Robot NXT Demo, NXT Ballbot (Self-Balancing Robot On A Ball) Controller Design

• Required Products: Control System Toolbox; Fixed-Point Toolbox; Real-Time Workshop; Real-Time Workshop Embedded Coder; Simulink; Simulink Fixed Point; Simulink 3D Animation
• MATLAB release: MATLAB 7.5 (R2007b)
• Other requirements: nxtOSEK, Cygwin, GNU ARM

Other Files

nxtway_gs/docs/english/NXTway-GS Building Instructions.pdf,
nxtway_gs/docs/english/NXTway-GS Model-Based Design.pdf,
nxtway_gs/docs/japanese/NXTway-GS ,
nxtway_gs/models/iswall.m,
nxtway_gs/models/mywritevrtrack.m,
nxtway_gs/models/nxtway_gs.mdl,
nxtway_gs/models/nxtway_gs_controller.mdl,
nxtway_gs/models/nxtway_gs_controller_fixpt.mdl,
nxtway_gs/models/nxtway_gs_plant.mdl,
nxtway_gs/models/nxtway_gs_vr.mdl,
nxtway_gs/models/param_controller.m,
nxtway_gs/models/param_controller_fixpt.m,
nxtway_gs/models/param_nxtway_gs.m,
nxtway_gs/models/param_plant.m,
nxtway_gs/models/param_sim.m,
nxtway_gs/models/track.bmp,
nxtway_gs/models/track.wrl,
nxtway_gs/models/vrnxtwaytrack.wrl

[Diego Barragán]

Nice

[Anas Obeidat]

it's Excellent Simulation to NXT robot and Documentation is perfect.  
 

[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.

[CHENMIN CHENMIN]

 

[CHENMING CHENMING]

 

[yipeng tang]

 

[Anand]

I am not able to unzip this file. please help

[Yorihisa Yamamoto]

> Anand  
This file is archived with "Compressed (zipped) folder" shortcut of Windows XP. Please try to decompress it using WinZip or other utilities.

[Sam Mirsky]

Well done. Good documentation. This demo impresses everyone I show it to.