Segway RMP - RMP 200 Payload Configurations

Version 2.0 Segway RMP – User Guide
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RMP 200 Payload Configurations
Using the “Tall” configuration requires extra care –tilt angles
as small as 10 degrees result in large relative displacements of
the wheel and upper payload.
75 cm
75 cm
50 lbs 25 lbs
25 lbs
100 lbs
Ta l l
(Gain Schedule 1)
Heavy
(Gain Schedule 2)
Light
(Gain Schedule 0)
This figure depicts the three payload configurations that the
RMP200 is designed to handle.
Controller Gain Schedule 0 – “Light”
This controller has been tuned for a 50 lb payload located at the top plate. This configuration
may be created by using (2) of the 25 lb ballast plates. As payload is added, the Ballast Plates
should be removed.
Controller Gain Schedule 1 – “Tall”
This controller has been tuned for a 25 lb payload located at the top plate and a 25 lb payload
located 75 cm above the top plate.
Controller Gain Schedule 2 – “Heavy”
This controller has been tuned for a 100 lb payload located at the top plate.