motion control of nxtway(lego segway)caxapa.ru/thumbs/320181/nxtway-g-1.pdf · lego technic parts...
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Motion Control ofNXTway(LEGO Segway)
- Control Experiments with LEGO Mindstorms NXT -
Ryo Watanabe, Waseda University
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1. Introduction
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LEGO Technic Parts
Programming Environment(GUI) Controller, Actuators, and Sensors
RCX(1998-) NXT(2006-)
1. Introduction• LEGO Mindstorms
Integrated Development Environment for Educational Robot
Educational Robots
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1. Introduction• Robots build with LEGO Mindstorms
• Steve Hassenplug’s LegwayThe most famous self-balancing robot built with LEGO Mindstorms
Dean Kamen’sSegway
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1. Introduction• NXTway-G (LEGO Segway with Gyro Sensor)
Gyro Sensor
Discuss the possibility of LEGO Mindstorms NXT as the platform for Control Experiment
ModelingModel-based Controller Design
Numerical SimulationImplementation of Control System
Control Experiment
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2. LEGO Mindstorms NXT
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2. LEGO Mindstorms NXT• Overview
NXT Block(CPU), Servo Motors, and Sensors
LEGO Technic Parts+
LEGO Mindstorms NXTEducational Robots
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2. LEGO Mindstorms NXT• NXT Block
Processors ・Main processor: Atmel 32-bit ARM processor, AT91SAM7S256
256 KB FLASH, 64 KB RAM, 48 MHz ・Co-processor: Atmel 8-bit AVR processor, ATmega48
4 KB FLASH, 512 Byte RAM, 8 MHz
Interface ・4 input ports 6-wire interface
supporting digital and analog interface ・3 output ports 6-wire interface
supporting input from encoders ・4 button user-interface Rubber buttons
Communication ・Bluetooth wireless communication
CSR BlueCoreTM 4 v2.0 +EDR System ・USB 2.0 communication Full speed port
12 Mbit/s
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2. LEGO Mindstorms NXT• Programming Environment
C LanguageUseful Debugger
Floating-Point CalculationTimer Resolution : 1(ms)
Feature
IDE(Integrated Development Environment) for LEGO Mindstorms NXTdeveloped by Carnegie Mellon University Robotics Academy
RobotC
NXT-G(GUI), RoboLab(GUI), RobotC(C), NXC(C), leJOS(Java), ….
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3. NXTway-G
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3. NXTway-G• Legway and NXTway
Dean Kamen’sSegway
Philippe Hurbain’s NXTway
LEGO Mindstorms (NXT)
Steve Hassenplug’s Legway
Measurement of light sensor Body’s rotation angle
Information on wheel’s rotation angle is NOT used
Internal Stability is NOT achieved
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3. NXTway-G• NXTway-G
Gyro Sensor
Remote Control Interface
Rotary Encoder
DC Motor DC Motor
Motor VoltageAngular Velocity
(Body)
Rotation Angle(Wheel)
NXTway-G
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3. NXTway-G• Dynamics of NXTway-G
Motor VoltageAngular Velocity
(Body)
Rotation Angle(Wheel)
NXTway-G
• Linearized Model around Equilibrium PointState Variable
State Equation
Equilibrium Point
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4. Motion Control of NXTway-G
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4. Motion Control of NXTway-G• Structure of Control System
Motor Voltage
Internal StabilizationPosition Tracking
Control Objective
Reference GeneratorFriction Compensator
Stabilization & Tracking ControllerTuning Parameter
Control SystemAngular Velocity
(Body)
Rotation Angle(Wheel)
NXTway-G
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4. Motion Control of NXTway-G• Stabilization & Tracking Controller
Tracking Performance
Sensitivity of Control Input
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4. Motion Control of NXTway-G• Simulation Results
Internal Stability Tracking
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4. Motion Control of NXTway-G• Experimental Results
Internal Stability Tracking
Slope
Demonstration
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4. Motion Control of NXTway-G• Experimental Results
Internal Stability Tracking
Experiment
Simulation
Offsets in angle responses
Similar tracking performance
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5. Conclusion
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5. Conclusion• In this presentation, we discussed …
• Next Project
NXT Motorbike
Design and Construction of NXTway-GNXTway-G’s Motion Control System
• From the experimental results, we see …
The potential of LEGO Mindstorms NXT for the platform of control experiments
The power of model-based control theory