Development of a Nonlinear Mechatronic Cube

Development of a Nonlinear Mechatronic Cube

AbstractThe 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 TypeJournal Article
TitleDevelopment of a Nonlinear Mechatronic Cube
AuthorErik Bjerke
Björn Pehrsson
Page69
Date2016
LanguageEnglish
URLhttps://publications.lib.chalmers.se/records/fulltext/233543/233543.pdf
TagsLQR, balancing cube, SIMULINK, Control theory, embedded systems

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