Development the electronic system of continues modular snake-like-robot

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Robotics Transforming the Future - Proceedings of the 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018, 2019, Pages 113-120

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Universidad Tecnológica de Panamá

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This project consists of the development of an electronic system to manipulate a snake like robot in a modular way. The 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. Each microcontroller implements the characteristic equation from the Hirose curves to generate a serpentine movement. These moves were simulated using ROS (Robotic Operating System in Rviz).

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