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
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Gómez, Daniel ArmandoTorres Vera, Javier CamiloLeón Rodríguez, HernandoRodríguez, Hernando [0000-0001-5660-3028]Rodríguez, Hernando [0000-0001-5660-3028]2020-11-09T19:52:13Z2020-11-09T19:52:13Zhttp://hdl.handle.net/20.500.12495/4665instname:Universidad El Bosquereponame:Repositorio Institucional Universidad El Bosquehttps://repositorio.unbosque.edu.coapplication/pdfengUniversidad Tecnológica de PanamáMemorias de CongresosRobotics Transforming the Future - Proceedings of the 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018, 2019, Pages 113-120https://revistas.utp.ac.pa/index.php/memoutp/article/view/2003Attribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Acceso abiertohttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessAcceso abierto2019Development the electronic system of continues modular snake-like-robotDevelopment the electronic system of continues modular snake-like-robotArtículo de revistahttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/resource_type/c_2df8fbb1info:eu-repo/semantics/articlehttp://purl.org/coar/version/c_970fb48d4fbd8a85Robots -- IndustriaMaquinaria automáticaAparatos e instrumentos electrónicosThis 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).ORIGINALGómez_Daniel_Armando_2019.pdfGómez_Daniel_Armando_2019.pdfapplication/pdf444728https://repositorio.unbosque.edu.co/bitstreams/e09d72ba-57b9-4446-9d17-66c08cba5540/downloadb4d2cdc1e72d9d43a0f584ea75af6d08MD51THUMBNAILGómez_Daniel_Armando_2019.pdf.jpgGómez_Daniel_Armando_2019.pdf.jpgimage/jpeg5775https://repositorio.unbosque.edu.co/bitstreams/0fc1030f-f145-40ac-8f13-2971da130413/download7210a811635d1799e7c05fee5d259be7MD52TEXTGómez_Daniel_Armando_2019.pdf.txtGómez_Daniel_Armando_2019.pdf.txtExtracted texttext/plain30913https://repositorio.unbosque.edu.co/bitstreams/026bb879-bdd7-442a-b45f-303f1963e69d/download8243fdfbfb982f7da0142da2fd9819a2MD5320.500.12495/4665oai:repositorio.unbosque.edu.co:20.500.12495/46652024-02-07 10:03:50.856http://creativecommons.org/licenses/by-nc-nd/4.0/Attribution-NonCommercial-NoDerivatives 4.0 Internationalrestrictedhttps://repositorio.unbosque.edu.coRepositorio Institucional Universidad El Bosquebibliotecas@biteca.com |
| dc.title.spa.fl_str_mv |
Development the electronic system of continues modular snake-like-robot |
| dc.title.translated.spa.fl_str_mv |
Development the electronic system of continues modular snake-like-robot |
| title |
Development the electronic system of continues modular snake-like-robot |
| spellingShingle |
Development the electronic system of continues modular snake-like-robot Robots -- Industria Maquinaria automática Aparatos e instrumentos electrónicos |
| title_short |
Development the electronic system of continues modular snake-like-robot |
| title_full |
Development the electronic system of continues modular snake-like-robot |
| title_fullStr |
Development the electronic system of continues modular snake-like-robot |
| title_full_unstemmed |
Development the electronic system of continues modular snake-like-robot |
| title_sort |
Development the electronic system of continues modular snake-like-robot |
| dc.creator.fl_str_mv |
Gómez, Daniel Armando Torres Vera, Javier Camilo León Rodríguez, Hernando |
| dc.contributor.author.none.fl_str_mv |
Gómez, Daniel Armando Torres Vera, Javier Camilo León Rodríguez, Hernando |
| dc.contributor.orcid.none.fl_str_mv |
Rodríguez, Hernando [0000-0001-5660-3028] Rodríguez, Hernando [0000-0001-5660-3028] |
| dc.subject.armarc.spa.fl_str_mv |
Robots -- Industria Maquinaria automática Aparatos e instrumentos electrónicos |
| topic |
Robots -- Industria Maquinaria automática Aparatos e instrumentos electrónicos |
| description |
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). |
| publishDate |
2020 |
| dc.date.accessioned.none.fl_str_mv |
2020-11-09T19:52:13Z |
| dc.date.available.none.fl_str_mv |
2020-11-09T19:52:13Z |
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http://purl.org/coar/resource_type/c_2df8fbb1 |
| dc.type.coarversion.fl_str_mv |
http://purl.org/coar/version/c_970fb48d4fbd8a85 |
| dc.type.local.none.fl_str_mv |
Artículo de revista |
| dc.type.coar.none.fl_str_mv |
http://purl.org/coar/resource_type/c_6501 |
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info:eu-repo/semantics/article |
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http://purl.org/coar/resource_type/c_6501 |
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http://hdl.handle.net/20.500.12495/4665 |
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instname:Universidad El Bosque |
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reponame:Repositorio Institucional Universidad El Bosque |
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https://repositorio.unbosque.edu.co |
| url |
http://hdl.handle.net/20.500.12495/4665 https://repositorio.unbosque.edu.co |
| identifier_str_mv |
instname:Universidad El Bosque reponame:Repositorio Institucional Universidad El Bosque |
| dc.language.iso.none.fl_str_mv |
eng |
| language |
eng |
| dc.relation.ispartofseries.spa.fl_str_mv |
Robotics Transforming the Future - Proceedings of the 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018, 2019, Pages 113-120 |
| dc.relation.uri.none.fl_str_mv |
https://revistas.utp.ac.pa/index.php/memoutp/article/view/2003 |
| dc.rights.*.fl_str_mv |
Attribution-NonCommercial-NoDerivatives 4.0 International |
| dc.rights.uri.*.fl_str_mv |
http://creativecommons.org/licenses/by-nc-nd/4.0/ |
| dc.rights.local.spa.fl_str_mv |
Acceso abierto |
| dc.rights.accessrights.none.fl_str_mv |
http://purl.org/coar/access_right/c_abf2 info:eu-repo/semantics/openAccess Acceso abierto |
| dc.rights.creativecommons.none.fl_str_mv |
2019 |
| rights_invalid_str_mv |
Attribution-NonCommercial-NoDerivatives 4.0 International http://creativecommons.org/licenses/by-nc-nd/4.0/ Acceso abierto http://purl.org/coar/access_right/c_abf2 2019 |
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openAccess |
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application/pdf |
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Universidad Tecnológica de Panamá |
| dc.publisher.journal.spa.fl_str_mv |
Memorias de Congresos |
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Universidad El Bosque |
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