Progression of electronic and communication system for motion control of modular snake-like-robot

This Project consists of a development of an electronics system to manipulate a snake like robot in a modular way. The structure of this project is based on three topics; The Hardware and its Firmware, The Mathematical Analysis of the Serpenoid Curves and The Robotic Simulation. In regards to the first topic 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. The mathematical analysis is based on the Hirose-Serpenoid curves, hence every microcontroller implements a characteristic equation from the Hirose curves to generate a serpentine movement and last but not least the snake like robot is simul ated using ROS (Robotic Operating System) in Rviz

• Autores: Gómez, Daniel Armando; Torres Vera, Javier Camilo; León-Rodríguez, Hernando
• Tipo de recurso: Article of journal
• Fecha de publicación: 2021
• Institución: Universidad El Bosque
• Repositorio: Repositorio U. El Bosque
• Idioma: eng
• OAI Identifier: oai:repositorio.unbosque.edu.co:20.500.12495/5365
• Acceso en línea: http://hdl.handle.net/20.500.12495/5365; https://doi.org/10.5220/0006913405060512
• Palabra clave: Active joint mechanism; Snake-like robot; Modular master-slave controller; Continuous redundant robot; Robotic operating system
• Rights: openAccess
• License: Attribution-NonCommercial-NoDerivatives 4.0 International