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NXT SCARA (Two-Link Planar Robot Arm) Controller Design

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NXT SCARA (Two-Link Planar Robot Arm) Controller Design

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17 Nov 2008 (Updated )

NXT SCARA Model-Based Design based on Embedded Coder Robot NXT.

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Description

NXT SCARA is a two-link planar robot arm built with LEGO Mindstorms NXT. SCARA stands for Selective Compliant Assembly Robot Arm. Please refer the following URL to know more detailed information about SCARA.

http://en.wikipedia.org/wiki/SCARA

This demo presents sample models and documents describe the following contents.
 
How to Build NXT SCARA
Geometric Model and Inverse Kinematics
Trajectory Making
Controller Design for Tracking Control
NXT SCARA Model Illustration
Simulation and Experimental Results
 
You can simulate NXT SCARA model and generate controller program that can be executed on the NXT. Furthermore, you can watch movies of NXT SCARA simulation and control experiment at the following URL.

http://www.youtube.com/watch?v=kanmZErt4io


http://www.youtube.com/watch?v=7F2H19teyMY

This demo requires Embedded Coder Robot NXT Demo as MBD environment. You need to download it from the following URL before trying this demo.

http://www.mathworks.com/matlabcentral/fileexchange/13399
 
<Disclaimer>
LEGO(R) is a trademark of the LEGO Group of companies which does not sponsor, authorize or endorse this demo. LEGO(R) and Mindstorms(R) are registered trademarks of The LEGO Group.

Acknowledgements

Embedded Coder Robot Nxt Demo and Nx Tway Gs (Self Balancing Two Wheeled Robot) Controller Design inspired this file.

This file inspired Nxt Ballbot (Self Balancing Robot On A Ball) Controller Design and Nx Tway Gs (Self Balancing Two Wheeled Robot) Controller Design.

Required Products Simulink Coder
Embedded Coder
Simulink
Simulink 3D Animation
MATLAB release MATLAB 7.5 (R2007b)
Other requirements nxtOSEK, Cygwin, GNU ARM
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Comments and Ratings (7)
21 Aug 2013 federica

hi, it doesn't work. Why?!?!?!?

15 Nov 2012 Nam Vo Hoang  
16 Aug 2012 Luis Caceres

Thanks Takashi i already make it work, the main issue was that matlab/simulink 2012a request to add NXT support via "ECRobotInstaller – Simplified installation" in order to recognize all the files, after the instalation also need the "Simulink.data.upgradeClasses" command to update the system after all that is when it work

19 Jul 2012 Takashi Chikamasa

Hi Luis,

The error is the known one which is caused by changes on Simulink Data Object in 2012a
As MATLAB command window tells,
>> Simulink.data.upgradeClasses
And restart MATLAB will solve it.

15 Jul 2012 Luis Caceres

prety complicated design , just the simulink model give me an error on matlab/simulink2012

Block Error EnterButton Interface Error evaluating'InitFcn' callback of Enter Button Interface block (mask) 'nxtscara_controler/Enter

Model error unknown Undefined function or variable 'NXT.Signal'

that same error with all the interfaces,
plese some help

21 Mar 2012 jamil alabdaly

THANK
for help me to download

07 Jul 2009 mohammad

actually its a wonderfull work and i would like to thank you very much for publishing it

Updates
18 Nov 2008

modified document slightly

26 Feb 2009

Added japanese documents

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