Interfaz de control remoto para robot hexápodo
Visualitza/Obre
TFM_Interfaz_control_remoto_hexapod.pdf (28,10Mb) (Accés restringit)
Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/356391
Tipus de documentProjecte Final de Màster Oficial
Data2021-07-15
Condicions d'accésAccés restringit per decisió de l'autor
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industrial corresponents. Sense perjudici de les exempcions legals existents, queda prohibida la seva
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Abstract
A hexapod robot is a mechanical vehicle that moves with six limbs. Being inspired by nature, these robots have a great deal of flexibility and great capacity for movement, being able to adapt to all kinds of environments and to overcome a wide variety of obstacles. An important part of these mechanical structures is the control electronics as well as the software, together with the graphic interface, that allows their management. Due to the complexity of its mechanical structure, graphical interfaces are needed to allow an easy configuration and calibration of the joints as well as to manage the robot’s movements in an agile, fast and simple way. The main objective of this project is to develop the graphical web interface that allows the management of the hexapod robot. This management is mainly composed of the initial calibration of the limbs (offsets) to prevent the robot from moving uncoordinated. The hexapod robot consists of two frames that constitute its body between which the computational platforms are placed. These are the Botboarduino microcontroller board that manages the coordinated movement of the six limbs and performs the necessary geometric calculations, the SSC-32U power driver to directly manage the 18 servomotors that make up the robot and the PS2 controller receiver used to manually control the robot. The web interface has been developed using the Flask micro framework, programmed in Python and deployed on a Raspberry Pi 3. The server hosting the web interface is located outside the hexapod robot and communicates with it via Bluetooth through a HC-06 transceiver module
MatèriesRobotics, Robots--Control systems, Electronics, Robòtica, Robots -- Sistemes de control, Electrònica
TitulacióMÀSTER UNIVERSITARI EN ENGINYERIA DE SISTEMES AUTOMÀTICS I ELECTRÒNICA INDUSTRIAL (Pla 2012)
Fitxers | Descripció | Mida | Format | Visualitza |
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TFM_Interfaz_control_remoto_hexapod.pdf | 28,10Mb | Accés restringit |