Progression of Electronic and Communication System for Motion Control of Modular Snake-like-Robot

Daniel Armando Gómez, Javier Camilo Torres Vera, Hernando León-Rodríguez

2018

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 simulated using ROS (Robotic Operating System) in Rviz.

Paper Citation

in Harvard Style

León-Rodríguez H. (2018). Progression of Electronic and Communication System for Motion Control of Modular Snake-like-Robot.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 496-502. DOI: 10.5220/0006913404960502

in Bibtex Style

@conference{icinco18,
author={Hernando León-Rodríguez},
title={Progression of Electronic and Communication System for Motion Control of Modular Snake-like-Robot},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={496-502},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006913404960502},
isbn={978-989-758-321-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Progression of Electronic and Communication System for Motion Control of Modular Snake-like-Robot
SN - 978-989-758-321-6
AU - León-Rodríguez H.
PY - 2018
SP - 496
EP - 502
DO - 10.5220/0006913404960502