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Authors: Daniel Armando Gómez ; Javier Camilo Torres Vera and Hernando León-Rodríguez

Affiliation: Electronic Department, Faculty of Engineering, El Bosque University, Bogota and Colombia

Keyword(s): Active Joint Mechanism, Snake-like Robot, Modular Master-slave Controller, Continuous Redundant Robot, Robotic Operating System.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mechatronics Systems ; Robotics and Automation

Abstract: 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 simu lated using ROS (Robotic Operating System) in Rviz. (More)

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Paper citation in several formats:
Gómez, D.; Vera, J. and León-Rodríguez, H. (2018). Progression of Electronic and Communication System for Motion Control of Modular Snake-like-Robot. In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-321-6; ISSN 2184-2809, SciTePress, pages 496-502. DOI: 10.5220/0006913404960502

@conference{icinco18,
author={Daniel Armando Gómez. and Javier Camilo Torres Vera. and Hernando León{-}Rodríguez.},
title={Progression of Electronic and Communication System for Motion Control of Modular Snake-like-Robot},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2018},
pages={496-502},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006913404960502},
isbn={978-989-758-321-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Progression of Electronic and Communication System for Motion Control of Modular Snake-like-Robot
SN - 978-989-758-321-6
IS - 2184-2809
AU - Gómez, D.
AU - Vera, J.
AU - León-Rodríguez, H.
PY - 2018
SP - 496
EP - 502
DO - 10.5220/0006913404960502
PB - SciTePress