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...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Moya Mora, José de Jesús, Vergara Limón, Sergio, Reyes Cortes, José Fernando
Formato:	info:eu-repo/semantics/article
Lenguaje:	spa
Publicado:	Universidad Autónoma de Baja California 2019
Materias:	FPGA WIFI Communication Protocol Hyperbolic Tangent Control. Protocolo de Comunicación WIFI Control Tangente Hiperbólico.
Acceso en línea:	https://recit.uabc.mx/index.php/revista/article/view/oeyb5
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	repositorioinstitucional-20.500.12930-6996
record_format	dspace
spelling	repositorioinstitucional-20.500.12930-69962023-05-09T14:35:07Z 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. 2019-05-10 2021-06-03T03:52:24Z 2021-06-03T03:52:24Z info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Research article Artículo de investigación https://recit.uabc.mx/index.php/revista/article/view/oeyb5 10.37636/recit.v227179 https://hdl.handle.net/20.500.12930/6996 spa https://recit.uabc.mx/index.php/revista/article/view/oeyb5/71-79 https://recit.uabc.mx/index.php/revista/article/view/oeyb5/html https://recit.uabc.mx/index.php/revista/article/view/oeyb5/OEyB5 Copyright (c) 2019 José de Jesús Moya Mora, Sergio Vergara Limón, José Fernando Reyes Cortes http://creativecommons.org/licenses/by/4.0 application/pdf text/html application/xml Universidad Autónoma de Baja California REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 2 No. 2 (2019); 71-79 REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 2 Núm. 2 (2019); 71-79 2594-1925
institution	Repositorio Institucional
collection	DSpace
language	spa
topic	FPGA WIFI Communication Protocol Hyperbolic Tangent Control. FPGA Protocolo de Comunicación WIFI Control Tangente Hiperbólico.
spellingShingle	FPGA WIFI Communication Protocol Hyperbolic Tangent Control. FPGA Protocolo de Comunicación WIFI Control Tangente Hiperbólico. Moya Mora, José de Jesús Vergara Limón, Sergio Reyes Cortes, José Fernando 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.
format	info:eu-repo/semantics/article
author	Moya Mora, José de Jesús Vergara Limón, Sergio Reyes Cortes, José Fernando
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
publisher	Universidad Autónoma de Baja California
publishDate	2019
url	https://recit.uabc.mx/index.php/revista/article/view/oeyb5
_version_	1792609206983983104

Card to control 3 degrees of freedom of robots via wifi

Ejemplares similares

Síguenos en: