Project Robotics - March 2009 - (Page 20)

figure 4 sensor data flow overview. The flexibiliTy of The ni sofTware-hardware plaTform allowed differenT variaTions of The conTroller To be easily TesTed To deTermine which would be The opTimal choice for The acTual sysTem. figure 5 lot-V ni-daq-based control within labView simulation loop. VoluMe 1 20 || nuMBer 1 inclinometer and a rate-gyroscope to calculate the angular position relative to gravity (see figure 4). The final implementation also used motor-mounted optical encoders to accurately steer and to also measure the linear position and velocity of the platform. The team implemented a full-statefeedback controller to control the balancing of the platforms using the lab-VieW simulation Module. it was developed using the linear-Quadratic regulator (lQr) technique on a linearized version of the system (see figure 5). The flexibility of the ni softwarehardware platform allowed different variations of the controller to be easily tested to determine which would be the optimal choice for the actual system. once the team was comfortable with the overall design, it was time to use the models, sensors, actuators, and control schemes they had prototyped to build and deploy a rugged, independent system. Contents Viewpoint the Cutting edge for haptiC researCh Modeling CoMplex eleCtroMeChaniCal systeMs deVeloping a two-wheeled self-BalanCing transport platforM home page product training Module online ordering suppliers Catalog http://ad.doubleclick.net/clk;212362954;32989198;w?http://www.digikey.com http://ad.doubleclick.net/clk;212362954;32989198;w?http://www.digikey.com http://ad.doubleclick.net/clk;212363051;32989198;l?http://digikey.com/PTM/PTMMaster.page?site=us&lang=en http://ad.doubleclick.net/clk;212363300;32989198;i?http://ordering.digikey.com/ordering/addpart.aspx?site=US&source=search http://ad.doubleclick.net/clk;212363091;32989198;p?http://digikey.com/Suppliers/SupplierIndex.page?site=us&lang=en http://ad.doubleclick.net/clk;212363309;32989198;r?http://dkc1.digikey.com/us/en/pdf/Current.html Table of Contents for the Digital Edition of Project Robotics - March 2009Project Robotics - March 2009ContentsViewpointAbout Digi-KeyModeling Complex Electromechanical SystemsDeveloping a Two-Wheeled Self-Balancing Transport PlatformFeatured ProductsEnter to Win an iPod TouchReference MaterialsRobotic Quick LinksProject Robotics - March 2009Project Robotics - March 2009 - Project Robotics - March 2009 (Page Cover1)Project Robotics - March 2009 - Contents (Page 2)Project Robotics - March 2009 - Viewpoint (Page 3)Project Robotics - March 2009 - About Digi-Key (Page 4)Project Robotics - March 2009 - About Digi-Key (Page 5)Project Robotics - March 2009 - About Digi-Key (Page 6)Project Robotics - March 2009 - About Digi-Key (Page 7)Project Robotics - March 2009 - About Digi-Key (Page 8)Project Robotics - March 2009 - About Digi-Key (Page 9)Project Robotics - March 2009 - About Digi-Key (Page 10)Project Robotics - March 2009 - About Digi-Key (Page 11)Project Robotics - March 2009 - Modeling Complex Electromechanical Systems (Page 12)Project Robotics - March 2009 - Modeling Complex Electromechanical Systems (Page 13)Project Robotics - March 2009 - Modeling Complex Electromechanical Systems (Page 14)Project Robotics - March 2009 - Modeling Complex Electromechanical Systems (Page 15)Project Robotics - March 2009 - Developing a Two-Wheeled Self-Balancing Transport Platform (Page 16)Project Robotics - March 2009 - Developing a Two-Wheeled Self-Balancing Transport Platform (Page 17)Project Robotics - March 2009 - Developing a Two-Wheeled Self-Balancing Transport Platform (Page 18)Project Robotics - March 2009 - Developing a Two-Wheeled Self-Balancing Transport Platform (Page 19)Project Robotics - March 2009 - Developing a Two-Wheeled Self-Balancing Transport Platform (Page 20)Project Robotics - March 2009 - Developing a Two-Wheeled Self-Balancing Transport Platform (Page 21)Project Robotics - March 2009 - Developing a Two-Wheeled Self-Balancing Transport Platform (Page 22)Project Robotics - March 2009 - Featured Products (Page 23)Project Robotics - March 2009 - Featured Products (Page 24)Project Robotics - March 2009 - Enter to Win an iPod Touch (Page 25)Project Robotics - March 2009 - Reference Materials (Page 26)Project Robotics - March 2009 - Reference Materials (Page 27)Project Robotics - March 2009 - Reference Materials (Page 28)Project Robotics - March 2009 - Robotic Quick Links (Page 29)Project Robotics - March 2009 - Robotic Quick Links (Page 30)http://www.nxtbook.com/nxtbooks/hearst/projectrobotics_200910http://www.nxtbook.com/nxtbooks/hearst/projectrobotics_200903http://www.nxtbookMEDIA.com

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