Development The Electronic System Of Continues Modular Snake-Like-Robot
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 microcont...
Guardat en:
| Autor principal: | |
|---|---|
| Altres autors: | , |
| Format: | article |
| Idioma: | espanyol |
| Publicat: |
2018
|
| Accés en línia: | http://revistas.utp.ac.pa/index.php/memoutp/article/view/2003 http://ridda2.utp.ac.pa/handle/123456789/5660 |
| Etiquetes: |
Sense etiquetes, Sigues el primer a etiquetar aquest registre!
|
| Sumari: | 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). |
|---|