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NXT Ballbot (Self-Balancing Robot On A Ball) Controller Design

28 Apr 2009

Code covered by the BSD License

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

File Information
Description	NXT Ballbot is a LEGO Mindstorms NXT version of Ballbot that is developed by Ralph Hollis at Carnegie Mellon University. The Ballbot is designed to balance itself on its single spherical wheel while traveling about. Please refer the following URL to know more detailed information about Ballbot. http://en.wikipedia.org/wiki/Ballbot This demo presents sample models and documents describe the following contents. How to Build NXT Ballbot Mathematical Dynamics Model of NXT Ballbot Controller Design for Balance and Drive Control NXT Ballbot Model Illustration Simulation and Experimental Results You can simulate NXT Ballbot model and generate controller program that can be executed on the NXT. Furthermore, you can watch movies of NXT Ballbot simulation and control experiment at the following URL. http://www.youtube.com/watch?v=1MfiAZBsWac http://www.youtube.com/watch?v=f8jxGsg3p0Y 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, NXT SCARA (Two-Link Planar Robot Arm) Controller Design This submission has inspired the following: NXTway-GS (Self-Balancing Two-Wheeled Robot) Controller Design
Required Products	Control System Toolbox Real-Time Workshop Real-Time Workshop Embedded Coder Simulink Simulink 3D Animation
MATLAB release	MATLAB 7.5 (R2007b)
Other requirements	nxtOSEK, Cygwin, GNU ARM
Zip File Content
Other Files	nxt_ballbot/docs/english/NXT Ballbot Building Instructions.pdf, nxt_ballbot/docs/english/NXT Ballbot Model-Based Design.pdf, nxt_ballbot/docs/japanese/NXT Ballbot , nxt_ballbot/docs/japanese/NXT Ballbot , nxt_ballbot/models/iswall.m, nxt_ballbot/models/mywritevrtrack.m, nxt_ballbot/models/nxt_ballbot.mdl, nxt_ballbot/models/nxt_ballbot_controller.mdl, nxt_ballbot/models/nxt_ballbot_vr.mdl, nxt_ballbot/models/param_controller.m, nxt_ballbot/models/param_nxt_ballbot.m, nxt_ballbot/models/param_plant.m, nxt_ballbot/models/param_sim.m, nxt_ballbot/models/post_sdo_codegen.m, nxt_ballbot/models/pre_sdo_codegen.m, nxt_ballbot/models/vr_nxt_ballbot.wrl, nxt_ballbot/models/vr_nxt_ballbot_track.bmp, nxt_ballbot/models/vr_nxt_ballbot_track.wrl

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Everyone's Tags	control design, ecrobot, embedded code, lego, mindstorms, modeling, nxt, robot, simulation
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Tag Activity for this File
Tag	Applied By	Date/Time
control design	Yorihisa Yamamoto	28 Apr 2009 10:00:38
modeling	Yorihisa Yamamoto	28 Apr 2009 10:00:38
simulation	Yorihisa Yamamoto	28 Apr 2009 10:00:38
embedded code	Yorihisa Yamamoto	28 Apr 2009 10:00:38
nxt	Yorihisa Yamamoto	28 Apr 2009 10:00:38
lego	Yorihisa Yamamoto	28 Apr 2009 10:00:38
mindstorms	Yorihisa Yamamoto	28 Apr 2009 10:00:38
robot	Yorihisa Yamamoto	28 Apr 2009 10:00:38
ecrobot	Gautam Vallabha	30 Apr 2009 15:10:58

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