Segway RMP - RMP 100 Payload Configurations

Version 2.0 Segway RMP – User Guide
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RMP 100 Payload Configurations
69 cm
25 lbs 50 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 25 lb payload located at the top plate. This configuration
may be created by using (1) of the 25 lb ballast plates. As payload is added, the ballast plates
should be removed.
Controller Gain Schedule 1 – “Medium”
This controller has been tuned for a 50 lb payload located at the top plate.
Controller Gain Schedule 2 – “Heavy”
This controller has been tuned for a 100 lb payload located at the top plate.
Medium