Development The Electronic System Of Continues Modular Snake-Like-Robot

Gómez, Daniel Armando; Torres Vera, Javier Camilo; Rodríguez, Hernando León

dc.contributor		es-ES
dc.creator	Gómez, Daniel Armando
dc.creator	Torres Vera, Javier Camilo
dc.creator	Rodríguez, Hernando León
dc.date	2018-09-01
dc.date.accessioned	2018-12-04T14:32:05Z
dc.date.available	2018-12-04T14:32:05Z
dc.identifier	http://revistas.utp.ac.pa/index.php/memoutp/article/view/2003
dc.identifier.uri	http://ridda2.utp.ac.pa/handle/123456789/5660
dc.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).	es-ES
dc.format	application/pdf
dc.language	spa
dc.publisher	Universidad Tecnológica de Panamá	es-ES
dc.relation	http://revistas.utp.ac.pa/index.php/memoutp/article/view/2003/2939
dc.rights	info:eu-repo/semantics/openAccess
dc.rights	https://creativecommons.org/licenses/by-nc-sa/4.0/
dc.source	Memorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 379-394	es-ES
dc.title	Development The Electronic System Of Continues Modular Snake-Like-Robot	es-ES
dc.type	info:eu-repo/semantics/article
dc.type	info:eu-repo/semantics/publishedVersion

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2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018 [52]
CLAWAR 2018: 21st International Conference. Panama City, Panama during 10 – 12 September 2018.

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