NXT SCARA (Two-Link Planar Robot Arm) Controller Design

NXT SCARA Model-Based Design based on Embedded Coder Robot NXT.

Description

NXT SCARA is a two-link planar robot arm built with LEGO Mindstorms NXT. SCARA stands for Selective Compliant Assembly Robot Arm. Please refer the following URL to know more detailed information about SCARA.

http://en.wikipedia.org/wiki/SCARA

This demo presents sample models and documents describe the following contents.
 
How to Build NXT SCARA
Geometric Model and Inverse Kinematics
Trajectory Making
Controller Design for Tracking Control
NXT SCARA Model Illustration
Simulation and Experimental Results
 
You can simulate NXT SCARA model and generate controller program that can be executed on the NXT. Furthermore, you can watch movies of NXT SCARA simulation and control experiment at the following URL.

http://www.youtube.com/watch?v=kanmZErt4io
http://www.youtube.com/watch?v=7F2H19teyMY

This demo requires 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, NXTway-GS (Self-Balancing Two-Wheeled Robot) Controller Design
This submission has inspired the following:
NXT Ballbot (Self-Balancing Robot On A Ball) Controller Design, NXTway-GS (Self-Balancing Two-Wheeled Robot) Controller Design

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

Other Files

nxtscara/docs/english/NXT SCARA Building Instructions.pdf,
nxtscara/docs/english/NXT SCARA Model-Based Design.pdf,
nxtscara/docs/japanese/NXT SCARA ,
nxtscara/docs/japanese/NXT SCARA ,
nxtscara/models/cal_cp_ptp.m,
nxtscara/models/cal_eta.m,
nxtscara/models/cal_ptp.m,
nxtscara/models/cal_time_data.m,
nxtscara/models/cat_cp_ptp.m,
nxtscara/models/chk_limit.m,
nxtscara/models/cp_circle.m,
nxtscara/models/cp_ml_logo.m,
nxtscara/models/cp_smile.m,
nxtscara/models/cp_spiral.m,
nxtscara/models/ml_logo.mat,
nxtscara/models/nxtscara.mdl,
nxtscara/models/nxtscara_controller.mdl,
nxtscara/models/nxtscara_vr.mdl,
nxtscara/models/param_controller.m,
nxtscara/models/param_nxtscara.m,
nxtscara/models/param_plant.m,
nxtscara/models/param_ref.m,
nxtscara/models/param_sim.m,
nxtscara/models/post_sdo_codegen.m,
nxtscara/models/pre_sdo_codegen.m,
nxtscara/models/theta2xy.m,
nxtscara/models/vr_nxtscara.wrl,
nxtscara/models/vr_nxtscara_track.wrl,
nxtscara/models/xy2theta.m

[mohammad]

actually its a wonderfull work and i would like to thank you very much for publishing it