Card to control 3 degrees of freedom of robots via wifi
The present work describes the development of a control system for a three D.O.F Cartesian robot using an embedded system where the information transfer is done by the WIFI communication protocol. A description of the mechanical design of the robot is given, as well as the kinematic and dynamic mode...
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| Autori principali: | , , |
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| Natura: | Online |
| Lingua: | spa |
| Pubblicazione: |
Universidad Autónoma de Baja California
2019
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| Accesso online: | https://recit.uabc.mx/index.php/revista/article/view/39 |
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| Riassunto: | The present work describes the development of a control system for a three D.O.F Cartesian robot using an embedded system where the information transfer is done by the WIFI communication protocol. A description of the mechanical design of the robot is given, as well as the kinematic and dynamic model. It details the design of an acquisition system, developed in FPGA based embedded system of the Altera Cyclone III family, and also the interpretation of the robot signal handling and WIFI communication. In addition, it shows the development of the firmware responsible of the control and communication. Regarding the control, a hyperbolic tangent controller is selected for preliminary results and with these, the Cartesian robot can be analyzed and regulated. |
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