TY - GEN
T1 - Progression of electronic and communication system for motion control of modular snake-like-robot
AU - Gómez, Daniel Armando
AU - Torres Vera, Javier Camilo
AU - León-Rodríguez, Hernando
N1 - Publisher Copyright:
Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved
PY - 2018
Y1 - 2018
N2 - 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.
AB - 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.
KW - Active Joint Mechanism
KW - Continuous Redundant Robot
KW - Modular Master-slave Controller
KW - Robotic Operating System
KW - Snake-like Robot
UR - http://www.scopus.com/inward/record.url?scp=85071437480&partnerID=8YFLogxK
U2 - 10.5220/0006913404960502
DO - 10.5220/0006913404960502
M3 - Conference contribution
AN - SCOPUS:85071437480
T3 - ICINCO 2018 - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics
SP - 496
EP - 502
BT - ICINCO 2018 - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics
A2 - Madani, Kurosh
A2 - Gusikhin, Oleg
PB - SciTePress
T2 - 15th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2018
Y2 - 29 July 2018 through 31 July 2018
ER -