Papers by Javier Camilo Torres Vera
Este proyecto consiste en el desarrollo de un sistema electrónico para manipular a un robot serpi... more Este proyecto consiste en el desarrollo de un sistema electrónico para manipular a un robot serpiente de manera modular; se implementaron tarjetas electrónicas en una relación maestro-esclavas para el control articular de cada módulo mecánico. Estas tarjetas se componen de un DSPic30F4011, microcontrolador de 16 bits de Microchip que incorpora el modulo CAN, protocolo esencial para la comunicación entre tarjetas, salidas PWM para el control de motores, puertos análogos y digitales; como también un socket para conectarse a un dispositivo externo a través de la UART. El firmware ha sido escrito en MikroC Pro. Cada microcontrolador implementa una ecuación característica proveniente de las curvas de Hirose para generar un movimiento serpentino. Este movimiento se simuló usando ROS (Robotic Operating System) en Rviz y finalmente se implementó en el prototipo robot.
Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics, 2018
This Project consists of a development of an electronics system to manipulate a snake like robot ... more 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.
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Papers by Javier Camilo Torres Vera