4.9 | 7 ratings Rate this file 331 downloads (last 30 days) File Size: 11.31 MB File ID: #19147

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

by Yorihisa Yamamoto

11 Mar 2008 (Updated 01 May 2009)

Code covered by BSD License

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

Editor's Notes:

This file was selected as MATLAB Central Pick of the Week

Download Now | Watch this File

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. 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, NXT Ballbot (Self-Balancing Robot On A Ball) Controller Design, 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 Simulink 3D Animation
MATLAB release	MATLAB 7.5 (R2007b)
Other requirements	nxtOSEK, Cygwin, GNU ARM
Zip File Content
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

Tags for This File
Everyone's Tags	control, ecrobot, embed, embedded code, lego, legway, mindstorms, model(2), modeling, nxt, nxtway, potw, realtime workshop, robot, segway, verification
Tags I've Applied
Add New Tags	Please login to tag files.

Comments and Ratings (9)
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
28 Apr 2009	Anand	I am not able to unzip this file. please help
30 Apr 2009	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.
24 Jun 2009	Sam Mirsky	Well done. Good documentation. This demo impresses everyone I show it to.

Please login to add a comment or rating.

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
26 Feb 2009	updated building instructions added japanese document
01 May 2009	1.4 Modified text

Tag Activity for this File
Tag	Applied By	Date/Time
realtime workshop	Yorihisa Yamamoto	22 Oct 2008 09:52:45
embedded code	Yorihisa Yamamoto	22 Oct 2008 09:52:45
verification	Yorihisa Yamamoto	22 Oct 2008 09:52:45
lego	Yorihisa Yamamoto	22 Oct 2008 09:52:45
mindstorms	Yorihisa Yamamoto	22 Oct 2008 09:52:45
nxt	Yorihisa Yamamoto	22 Oct 2008 09:52:45
nxtway	Yorihisa Yamamoto	22 Oct 2008 09:52:45
legway	Yorihisa Yamamoto	22 Oct 2008 09:52:45
robot	Yorihisa Yamamoto	22 Oct 2008 09:52:45
segway	Yorihisa Yamamoto	22 Oct 2008 09:52:45
embed	Cristina McIntire	10 Nov 2008 10:43:50
modeling	Cristina McIntire	10 Nov 2008 10:44:01
model	Cristina McIntire	11 Nov 2008 12:14:46
model	Yorihisa Yamamoto	06 Jan 2009 00:45:56
control	Yorihisa Yamamoto	06 Jan 2009 00:46:57
ecrobot	Gautam Vallabha	08 Apr 2009 13:14:54
potw	Shari Freedman	14 Aug 2009 11:10:29

MATLAB Central Terms of Use

NOTICE: Any content you submit to MATLAB Central, including personal information, is not subject to the protections which may be afforded information collected under other sections of The MathWorks, Inc. Web site. You are entirely responsible for all content that you upload, post, e-mail, transmit or otherwise make available via MATLAB Central. The MathWorks does not control the content posted by visitors to MATLAB Central and, does not guarantee the accuracy, integrity, or quality of such content. Under no circumstances will The MathWorks be liable in any way for any content not authored by The MathWorks, or any loss or damage of any kind incurred as a result of the use of any content posted, e-mailed, transmitted or otherwise made available via MATLAB Central. Read the complete Terms prior to use.