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http://dx.doi.org/10.5573/ieie.2017.54.7.127

Implementation of Educational Two-wheel Inverted Pendulum Robot using NXT Mindstorm  

Jung, Bo Hwan (Department of Information and Communication, Yongin Songdam College)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.54, no.7, 2017 , pp. 127-132 More about this Journal
Abstract
In this paper, we propose a controller gain based on model based design and implement the two-wheel inverted pendulum type robot using NXT Lego and RobotC language. Two-wheel inverted pendulum robot consists of NXT mindstorm, servo DC motor with encoder, gyro sensor, and accelerometer sensor. We measurement wheel angle using bulit-in encoder and calculate wheel angle speed using moving average method. Gyro measures body angular velocity and accelerometer measures body pitch angle. We calculate body angle with complementary filter using gyro and accelerometer sensor. The control gain is a weighted value for wheel angle, wheel angular velocity, body pitch angle, and body pich angular velocity, respectively. We experiment and observe the effect of two-wheel inverted pendulum with respect to change of control gains.
Keywords
Inverted Pendulum; NXT Mindstorm; Gyro; Accelerometer; Complementary filter; LQR;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
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