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...
| Autores Principales: | Gómez, Daniel Armando, Torres Vera, Javier Camilo, Rodríguez, Hernando León |
|---|---|
| Formato: | Artículo |
| Idioma: | Español |
| Publicado: |
Universidad Tecnológica de Panamá
2018
|
| Acceso en línea: |
http://revistas.utp.ac.pa/index.php/memoutp/article/view/2003 http://ridda2.utp.ac.pa/handle/123456789/5660 |
| Sumario: |
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). |
|---|