Development the electronic system of continues 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.accessioned2020-11-09T19:52:13Z
dc.date.available2020-11-09T19:52:13Z
dc.description.abstractenglishThis 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).eng
dc.format.mimetypeapplication/pdf
dc.identifier.instnameinstname:Universidad El Bosquespa
dc.identifier.reponamereponame:Repositorio Institucional Universidad El Bosquespa
dc.identifier.repourlhttps://repositorio.unbosque.edu.co
dc.identifier.urihttps://hdl.handle.net/20.500.12495/4665
dc.language.isoeng
dc.publisherUniversidad Tecnológica de Panamáspa
dc.publisher.journalMemorias de Congresosspa
dc.relation.ispartofseriesRobotics 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 113-120spa
dc.relation.urihttps://revistas.utp.ac.pa/index.php/memoutp/article/view/2003
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.creativecommons2019
dc.rights.localAcceso abiertospa
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subject.armarcRobots -- Industriaspa
dc.subject.armarcMaquinaria automáticaspa
dc.subject.armarcAparatos e instrumentos electrónicosspa
dc.titleDevelopment the electronic system of continues modular snake-like-robotspa
dc.title.translatedDevelopment the electronic system of continues 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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