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 fi...

Full description

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
Description
Summary: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