Authors:
Daniel Armando Gómez
;
Javier Camilo Torres Vera
and
Hernando León-Rodríguez
Affiliation:
Electronic Department, Faculty of Engineering, El Bosque University, Bogota and Colombia
Keyword(s):
Active Joint Mechanism, Snake-like Robot, Modular Master-slave Controller, Continuous Redundant Robot, Robotic Operating System.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mechatronics Systems
;
Robotics and Automation
Abstract:
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 simu
lated using ROS (Robotic Operating System) in Rviz.
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