| Abstract | The goal of the project is to develop and construct a nonlinear mechatronics cube which is able to jump up from the surface to one of its edges and balance. The mechanical part of the cube was developed using the softwares CATIA V.5 and MATLAB/Simulink. The final cube is controlled by an LQR-controller with added integral states. The code was implemented using the software Waijung, which translated MATLAB/Simulink code to C-code. The cube was able to balance on any surface and could resist small pushes up to 2 degrees. It also managed to successfully jump up and balance 4 out of 25 times. |
| Item Type | Journal Article |
| Title | Development of a Nonlinear Mechatronic Cube |
| Author | Erik Bjerke Björn Pehrsson |
| Page | 69 |
| Date | 2016 |
| Language | English |
| URL | https://publications.lib.chalmers.se/records/fulltext/233543/233543.pdf |
| Tags | LQR, balancing cube, SIMULINK, Control theory, embedded systems |
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