Progression of electronic and communication system for motion control of modular snake-like-robot

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dc.contributor.authorGómez, Daniel Armando
dc.contributor.authorTorres Vera, Javier Camilo
dc.contributor.authorLeón-Rodríguez, Hernando
dc.contributor.orcidRodríguez, Hernando [0000-0001-5660-3028]
dc.contributor.orcidRodríguez, Hernando [0000-0001-5660-3028]
dc.date.accessioned2021-02-18T13:34:39Z
dc.date.available2021-02-18T13:34:39Z
dc.description.abstractenglishThis 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 Rvizeng
dc.format.mimetypeapplication/pdf
dc.identifier.doihttps://doi.org/10.5220/0006913405060512
dc.identifier.instnameinstname:Universidad El Bosquespa
dc.identifier.reponamereponame:Repositorio Institucional Universidad El Bosquespa
dc.identifier.repourlrepourl:https://repositorio.unbosque.edu.co
dc.identifier.urihttps://hdl.handle.net/20.500.12495/5365
dc.language.isoeng
dc.publisherScitepressspa
dc.relation.ispartofseriesICINCO 2018 - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics, Vol. 2, 2018, Pages 496-502spa
dc.relation.urihttps://www.scitepress.org/PublicationsDetail.aspx?ID=vbnX57P6cXQ%3d&t=1
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.accessrightshttps://purl.org/coar/access_right/c_abf2
dc.rights.accessrightsinfo:eu-repo/semantics/openAccess
dc.rights.accessrightsAcceso abierto
dc.rights.creativecommons2018
dc.rights.localAcceso abiertospa
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subject.keywordsActive joint mechanismspa
dc.subject.keywordsSnake-like robotspa
dc.subject.keywordsModular master-slave controllerspa
dc.subject.keywordsContinuous redundant robotspa
dc.subject.keywordsRobotic operating systemspa
dc.titleProgression of electronic and communication system for motion control of modular snake-like-robotspa
dc.title.translatedProgression of electronic and communication system for motion control of modular snake-like-robotspa
dc.type.coarhttps://purl.org/coar/resource_type/c_6501
dc.type.driverinfo:eu-repo/semantics/article
dc.type.hasversioninfo:eu-repo/semantics/publishedVersion
dc.type.localArtículo de revista

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