Card to control 3 degrees of freedom of robots via wifi

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...

Celý popis

Uloženo v:
Podrobná bibliografie
Hlavní autoři: Moya Mora, José de Jesús, Vergara Limón, Sergio, Reyes Cortes, José Fernando
Médium: Online
Jazyk:spa
Vydáno: Universidad Autónoma de Baja California 2019
On-line přístup:https://recit.uabc.mx/index.php/revista/article/view/39
Tagy: Přidat tag
Žádné tagy, Buďte první, kdo otaguje tento záznam!
id recit-article-39
record_format ojs
spelling recit-article-392022-10-14T21:57:06Z Card to control 3 degrees of freedom of robots via wifi Tarjeta para controlar 3 grados de libertad de robots vía wifi Moya Mora, José de Jesús Vergara Limón, Sergio Reyes Cortes, José Fernando FPGA WIFI Communication Protocol Hyperbolic Tangent Control. FPGA Protocolo de Comunicación WIFI Control Tangente Hiperbólico. 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. El presente trabajo describe el desarrollo de un sistema para controlar un robot de tres grados de libertad utilizando un sistema embebido, la transferencia de información se realiza mediante el protocolo de comunicación WIFI. El robot que se utiliza es el tipo cartesiano. Se hace una descripción del diseño mecánico del robot, así como la obtención del modelo cinemático y dinámico. Se detalla el diseño de un sistema de adquisición, desarrollando un sistema embebido basado en FPGA de la marca altera de la familia Cyclone III el cual cuenta con un controlador interno, así como la interpretación del manejo de las señales del robot y comunicación WIFI, se explica el desarrollo del firmware que realiza el control y como se establece la comunicación. El controlador seleccionado es el de tangente hiperbólica. Dicho controlador es implementado en el firmware con el fin de controlar y analizar el comportamiento del sistema. Universidad Autónoma de Baja California 2019-05-10 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Research article Artículo de investigación application/pdf text/html application/xml https://recit.uabc.mx/index.php/revista/article/view/39 10.37636/recit.v227179 REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 2 No. 2 (2019): April-June; 71-79 REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 2 Núm. 2 (2019): Abril-Junio; 71-79 2594-1925 spa https://recit.uabc.mx/index.php/revista/article/view/39/52 https://recit.uabc.mx/index.php/revista/article/view/39/63 https://recit.uabc.mx/index.php/revista/article/view/39/143 Copyright (c) 2019 José de Jesús Moya Mora, Sergio Vergara Limón, José Fernando Reyes Cortes http://creativecommons.org/licenses/by/4.0
institution RECIT
collection OJS
language spa
format Online
author Moya Mora, José de Jesús
Vergara Limón, Sergio
Reyes Cortes, José Fernando
spellingShingle Moya Mora, José de Jesús
Vergara Limón, Sergio
Reyes Cortes, José Fernando
Card to control 3 degrees of freedom of robots via wifi
author_facet Moya Mora, José de Jesús
Vergara Limón, Sergio
Reyes Cortes, José Fernando
author_sort Moya Mora, José de Jesús
title Card to control 3 degrees of freedom of robots via wifi
title_short Card to control 3 degrees of freedom of robots via wifi
title_full Card to control 3 degrees of freedom of robots via wifi
title_fullStr Card to control 3 degrees of freedom of robots via wifi
title_full_unstemmed Card to control 3 degrees of freedom of robots via wifi
title_sort card to control 3 degrees of freedom of robots via wifi
description 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.
publisher Universidad Autónoma de Baja California
publishDate 2019
url https://recit.uabc.mx/index.php/revista/article/view/39
_version_ 1792095362048065536

Podobné jednotky