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Title:VODENJE POKONČNEGA DVOKOLESNEGA LEGO MINDSTORMS NXT MOBILNEGA ROBOTA
Authors:Petelinšek, Anže (Author)
Hace, Aleš (Mentor) More about this mentor... New window
Files:.pdf UNI_Petelinsek_Anze_2012.pdf (3,14 MB)
 
Language:Slovenian
Work type:Bachelor thesis/paper (mb11)
Typology:2.11 - Undergraduate Thesis
Organization:FERI - Faculty of Electrical Engineering and Computer Science
Abstract:Diplomsko delo opisuje vodenje dvokolesnega pokončnega robota. Glavni problem vodenja tega robota je stabilizacija v pokončni legi. Model robota je zgrajen iz Lego Mindstorms NXT kompleta z dodatnim žiroskopom in pospeškometrom, prilagojenim za ta komplet. V delu so opisani izpeljava regulacijskega algoritma, uporabljena strojna in programska oprema ter rezultati. Opisana je tudi izboljšava sistema z dodatno fuzijo senzorjev, ki združuje signale iz žiroskopa in pospeškometra za meritev položaja in hitrosti naklona robota. Robot je povezan preko bluetooth povezave z osebnim računalnikom in kontrolno ploščo za krmiljenje na daljavo.
Keywords:inverzno nihalo, dvokolesni pokončni robot, žiroskop, pospeškometer, komplementarni filter, Lego NXT, MATLAB
Year of publishing:2012
Publisher:[A. Petelinšek]
Source:Maribor
UDC:007.52:681.5(043.2)
COBISS_ID:16226582 Link is opened in a new window
NUK URN:URN:SI:UM:DK:MF2PRAZU
Views:1470
Downloads:213
Metadata:XML RDF-CHPDL DC-XML DC-RDF
Categories:KTFMB - FERI
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Secondary language

Language:English
Title:CONTROL OF TWO-WHEEL LEGO MINDSTORMS NXT UPRIGHT MOBILE ROBOT
Abstract:This study paper describes the act of regulation algorithm for two-wheeled upright robot. The main problem is keeping the robot in an upright position. Model is built of Lego Mindstorms NXT kit with additional gyroscope and accelerometer, adjusted for this kit. Paper includes description of goals, used hardware and software and the results. An improvement of system with additional sensors fusion, which combines signals from gyroscope and accelerometer and gives back optimals, is also described. At the end, we connected the resulting model through bluetooth with computer and drove it with control pannel (gamepad).
Keywords:inverted pendulum, upright two-wheeled robot, gyroscope, accelerometer, complementary filter, Lego NXT, MATLAB


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