Abstract
Dynamic analysis, modeling and control of the LEGO EV3 modular mobile platform
Highlights
Modular platforms are increasingly used for research and educational purposes
For a modular platform to have as wide application as possible, which is its primary characteristic, individual components must be designed to be as general in character as possible in terms of the range of functions they perform and how they are combined with other components
LEGO EV3 platform has been chosen as a test platform for testing the potential of modular robotic systems and some of its features have been tested
Summary
Modular platforms are increasingly used for research and educational purposes. There are numerous examples of such systems, such as: Arduino, Adimec, LEGO, NAO, Raspberry, etc. The aforementioned manufacturers strive to provide reliable modular solutions that, by combining them, can achieve a virtually infinite set of functional systems. The advantages of this approach are that individual components are accessible, mutually compatible, relatively programmable, robust and tailored so that, in addition to being executives, they play a structural role in the design of the desired system. - Large servo motor (actuator) - maximum operating speed of 170 rpm, torque of 0.2 Nm and stopping torque of 0.4 Nm It is positioned in the engine case an integrated encoder, a rotation meter, whose step is 1 degree of rotation and least sampling time 0.001 s;. - Sonar - ultrasonic sensor; - Single-axis gyro sensor; - Touch sensor - button with three modes, generating an output non-zero signal such as: the signal is greater than zero as the force acts on the sensor, the signal is greater than zero as long as the force does not act on the sensor, it can be concluded that the previous two modes give a pulse signal if the effect is on the sensor pulse, that is, the sensor acts as a button, changing the initial state gives the signal greater than zero - the sensor behaves as a switch
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