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
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spelling Gómez, Daniel ArmandoTorres Vera, Javier CamiloLeón-Rodríguez, HernandoRodríguez, Hernando [0000-0001-5660-3028]Rodríguez, Hernando [0000-0001-5660-3028]2021-02-18T13:34:39Z2021-02-18T13:34:39Zhttp://hdl.handle.net/20.500.12495/5365https://doi.org/10.5220/0006913405060512instname:Universidad El Bosquereponame:Repositorio Institucional Universidad El Bosquerepourl:https://repositorio.unbosque.edu.coapplication/pdfengScitepressICINCO 2018 - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics, Vol. 2, 2018, Pages 496-502https://www.scitepress.org/PublicationsDetail.aspx?ID=vbnX57P6cXQ%3d&t=1Attribution-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 abierto2018Progression of electronic and communication system for motion control of modular snake-like-robotProgression of electronic and communication system for motion control of 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_970fb48d4fbd8a85Active joint mechanismSnake-like robotModular master-slave controllerContinuous redundant robotRobotic operating systemThis 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 RvizTHUMBNAILGómez_Daniel_Armando_2018.pdf.jpgGómez_Daniel_Armando_2018.pdf.jpgimage/jpeg5775https://repositorio.unbosque.edu.co/bitstreams/a0cf1aba-a79a-4f46-971f-cf3138511b66/download7210a811635d1799e7c05fee5d259be7MD52ORIGINALGómez_Daniel_Armando_2018.pdfGómez_Daniel_Armando_2018.pdfapplication/pdf1324340https://repositorio.unbosque.edu.co/bitstreams/a83ae116-5efe-4315-90d8-898b37289188/download3bdac8817a95e3886da7cf35d4e0203fMD51TEXTGómez_Daniel_Armando_2018.pdf.txtGómez_Daniel_Armando_2018.pdf.txtExtracted texttext/plain21735https://repositorio.unbosque.edu.co/bitstreams/2926c31a-f820-4fde-b5c6-0fdd996708ab/downloadf089dc7d4327a22e7c18949a3b41f881MD5320.500.12495/5365oai:repositorio.unbosque.edu.co:20.500.12495/53652024-02-07 04:27:40.057http://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 Progression of electronic and communication system for motion control of modular snake-like-robot
dc.title.translated.spa.fl_str_mv Progression of electronic and communication system for motion control of modular snake-like-robot
title Progression of electronic and communication system for motion control of modular snake-like-robot
spellingShingle Progression of electronic and communication system for motion control of modular snake-like-robot
Active joint mechanism
Snake-like robot
Modular master-slave controller
Continuous redundant robot
Robotic operating system
title_short Progression of electronic and communication system for motion control of modular snake-like-robot
title_full Progression of electronic and communication system for motion control of modular snake-like-robot
title_fullStr Progression of electronic and communication system for motion control of modular snake-like-robot
title_full_unstemmed Progression of electronic and communication system for motion control of modular snake-like-robot
title_sort Progression of electronic and communication system for motion control of 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.keywords.spa.fl_str_mv Active joint mechanism
Snake-like robot
Modular master-slave controller
Continuous redundant robot
Robotic operating system
topic Active joint mechanism
Snake-like robot
Modular master-slave controller
Continuous redundant robot
Robotic operating system
description 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
publishDate 2021
dc.date.accessioned.none.fl_str_mv 2021-02-18T13:34:39Z
dc.date.available.none.fl_str_mv 2021-02-18T13:34:39Z
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dc.identifier.instname.spa.fl_str_mv instname:Universidad El Bosque
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https://doi.org/10.5220/0006913405060512
identifier_str_mv instname:Universidad El Bosque
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dc.language.iso.none.fl_str_mv eng
language eng
dc.relation.ispartofseries.spa.fl_str_mv ICINCO 2018 - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics, Vol. 2, 2018, Pages 496-502
dc.relation.uri.none.fl_str_mv https://www.scitepress.org/PublicationsDetail.aspx?ID=vbnX57P6cXQ%3d&t=1
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
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info:eu-repo/semantics/openAccess
Acceso abierto
dc.rights.creativecommons.none.fl_str_mv 2018
rights_invalid_str_mv Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
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