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...
- 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
- 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
id |
UNBOSQUE2_ee5843ddd487472e6b3dc4677f5a674c |
---|---|
oai_identifier_str |
oai:repositorio.unbosque.edu.co:20.500.12495/5365 |
network_acronym_str |
UNBOSQUE2 |
network_name_str |
Repositorio U. El Bosque |
repository_id_str |
|
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 |
dc.type.coar.fl_str_mv |
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 |
dc.type.driver.none.fl_str_mv |
info:eu-repo/semantics/article |
format |
http://purl.org/coar/resource_type/c_6501 |
dc.identifier.uri.none.fl_str_mv |
http://hdl.handle.net/20.500.12495/5365 |
dc.identifier.doi.none.fl_str_mv |
https://doi.org/10.5220/0006913405060512 |
dc.identifier.instname.spa.fl_str_mv |
instname:Universidad El Bosque |
dc.identifier.reponame.spa.fl_str_mv |
reponame:Repositorio Institucional Universidad El Bosque |
dc.identifier.repourl.none.fl_str_mv |
repourl:https://repositorio.unbosque.edu.co |
url |
http://hdl.handle.net/20.500.12495/5365 https://doi.org/10.5220/0006913405060512 |
identifier_str_mv |
instname:Universidad El Bosque reponame:Repositorio Institucional Universidad El Bosque repourl:https://repositorio.unbosque.edu.co |
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 |
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 |
2018 |
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 2018 |
eu_rights_str_mv |
openAccess |
dc.format.mimetype.none.fl_str_mv |
application/pdf |
dc.publisher.spa.fl_str_mv |
Scitepress |
institution |
Universidad El Bosque |
bitstream.url.fl_str_mv |
https://repositorio.unbosque.edu.co/bitstreams/a0cf1aba-a79a-4f46-971f-cf3138511b66/download https://repositorio.unbosque.edu.co/bitstreams/a83ae116-5efe-4315-90d8-898b37289188/download https://repositorio.unbosque.edu.co/bitstreams/2926c31a-f820-4fde-b5c6-0fdd996708ab/download |
bitstream.checksum.fl_str_mv |
7210a811635d1799e7c05fee5d259be7 3bdac8817a95e3886da7cf35d4e0203f f089dc7d4327a22e7c18949a3b41f881 |
bitstream.checksumAlgorithm.fl_str_mv |
MD5 MD5 MD5 |
repository.name.fl_str_mv |
Repositorio Institucional Universidad El Bosque |
repository.mail.fl_str_mv |
bibliotecas@biteca.com |
_version_ |
1814100772294492160 |