Development of a Nonlinear Mechatronic Cube

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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