Simulation of a Differential-Drive Wheeled Mobile Lego Robot Mindstorms NXT

Abstract:

The aim of this paper is to model and simulate kinematics motion using the differential drive model of a mobile Lego robot Mindstorm NXT. The author’s use integrated two software as a method to solve the simulation of mobile lego robot mindstorms NXT using Matlab/Simulink and Solidworks software. These softwares are enable easier 3D model creation for both simulation and hardware implementation. A fundamental of this work is the use of Matlab/Simulink Toolboxes to support the simulation and understanding of the various kinematics systems and in particular how the SimMechanics toolbox is used to interface seamlessly with ordinary Simulink block diagrams to enable the mechanical elements and its associated control system elements to be investigated in one common environment. The result of simulation shows the mobile robot movement control based on decentralized point algorithm to follow the precision x and y references that has been specified. The design of the mobile robot is validated in simulation results as proof that this design can achieve the good performance.

• Periodical: Applied Mechanics and Materials (Volume 776)
• Pages: 319-324
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.776.319
• Online since: July 2015
• Authors: I. Wayan Widhiada*, C.G. Indra Partha, Yuda A.P. Wayan Reza
• Keywords: Differential-Drive Robot, LEGO Mindstorms NXT, Simulation

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