Development the electronic system of continues modular snake-like-robot
This project consists of the development of an electronic system to manipulate a snake like robot in a modular way. The electronic cards were implemented in a master-slave relationship for joint control of each mechanical module. These cards are composed of a DSPic30F4011, microchip 16-bit microcont...
- Autores:
-
Gómez, Daniel Armando
Torres Vera, Javier Camilo
León Rodríguez, Hernando
- Tipo de recurso:
- Article of journal
- Fecha de publicación:
- 2020
- Institución:
- Universidad El Bosque
- Repositorio:
- Repositorio U. El Bosque
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.unbosque.edu.co:20.500.12495/4665
- Palabra clave:
- Robots -- Industria
Maquinaria automática
Aparatos e instrumentos electrónicos
- Rights
- openAccess
- License
- Attribution-NonCommercial-NoDerivatives 4.0 International
| Summary: | This project consists of the development of an electronic system to manipulate a snake like robot in a modular way. The electronic cards were implemented in a master-slave relationship for joint control of each mechanical module. These cards are composed of a DSPic30F4011, microchip 16-bit microcontroller that incorporates the CAN module, essential protocol for communication between cards, PWM outputs for motor control, analogue and digital ports; as well as a socket to connect to an external device through the UART. The firmware has been written in MikroC Pro. Each microcontroller implements the characteristic equation from the Hirose curves to generate a serpentine movement. These moves were simulated using ROS (Robotic Operating System in Rviz). |
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