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LEGO ROTARY INVERTED PENDULUM

Keywords:Lego,NXT,Rotary,Inverted,Pendulum.

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Motivation and Audience: This tutorial's motivation is to study about the mechanisms behind the control of a rotary inverted pendulum ,using Lego to build the structure and the NXT Brick to program the balance code using NQC language and the Simulink environment. Readers of this tutorial assumes the reader has the following background and interests:

• Inverted Pendulum Mechanisms
• Automatic Controls Theory (PID and LQR)
• Controls Programming using lego NXT Brick (NQC language).
• Controls Programming using Simulink.

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The rest of the tutorial is presented as follows:

• Parts List and Source
• Construction
• System Modeling
• Programming
• Final Words

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Parts List and Source

• Parts List

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Construction

• Building Instructions

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System Modeling

• System Modeling

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Programming

• Programming Using Bricx Command Center and Simulink

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Final Words

Simulink Version:

Bricx Command Center Version:

This Tutorial is based on the following papers and projects:

[1]

[2]

[3]

[4]

[5]

[6]

[7]