Development The Electronic System Of Continues Modular Snake-Like-Robot
- Format
- Article
- Status
- publishedVersion
- Description
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).
- Publication Year
- 2018
- Language
- spa
- Topic
- Repository
- RI de Documento Digitales de Acceso Abierto de la UTP
- Get full text
- http://revistas.utp.ac.pa/index.php/memoutp/article/view/2003
http://ridda2.utp.ac.pa/handle/123456789/5660
- Rights
- openAccess
- License
- https://creativecommons.org/licenses/by-nc-sa/4.0/