CONTROL DE UN ROBOT HEXÁPODO
Fecha
2019-04-12
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Jaén: Universidad de Jaén
Resumen
El presente proyecto abarca tanto el montaje como el control de un robot hexápodo. Para ello se dispondrá de un kit básico de piezas más servomotores que conforman el robot. El control principal se realizará mediante Arduino, en concreto, un Arduino Uno R3. Se utilizarán, además, otros controladores externos específicos para los servomotores. El lenguaje utilizado para la programación ha sido C++. El objetivo es desarrollar unos algoritmos de control del movimiento lo suficientemente logrados que doten de gran libertad de movimiento al robor, de manera que se pueda tener un control omnidireccional del mismo a través de un mando controlador. El desarrollo de este proyecto ha implicado una investigación en la robótica y en el ámbito de la inspiración biológica que tienen ésltos de los animales, mostrando qué ventajas suponen este tipo de robots frente a otros. Finalmente, el resultado del proyecto podrá utilizarse como material en clases docente y como ejemplos de aplicación de la robótica en jornadas de puertas abiertas y talleres. Igualmente, puede aplicarse para incentivar el acercamiento a la robótica y a la ingeniería en general.
The present project covers the assembly and the control o a hexapod robot. For this, we will have a basic kit which includes 18 servomotor and parts for the assembly. The main control is implemented with Arduino, specifically, an Arduino Uno R3. However, to control that amount of servomotors we will have to use two external controllers specifically to servomotors. The language used for programming has bee C++. The objetive is to develop control algorithms that provide the robor an omnidirectional movemente. Also, it will be controlled through a controller. The development of this project hs involved research into tobotics. Also the biological inspiration that robots have of animals, showing the advantages of this type of robots over others. Finally, the result of the project can be used as material in teaching classes and as examples of application of robotics in days of open doors and visits. Likewise, it can be applied to encourage the approach to robotics and engineering in general.
The present project covers the assembly and the control o a hexapod robot. For this, we will have a basic kit which includes 18 servomotor and parts for the assembly. The main control is implemented with Arduino, specifically, an Arduino Uno R3. However, to control that amount of servomotors we will have to use two external controllers specifically to servomotors. The language used for programming has bee C++. The objetive is to develop control algorithms that provide the robor an omnidirectional movemente. Also, it will be controlled through a controller. The development of this project hs involved research into tobotics. Also the biological inspiration that robots have of animals, showing the advantages of this type of robots over others. Finally, the result of the project can be used as material in teaching classes and as examples of application of robotics in days of open doors and visits. Likewise, it can be applied to encourage the approach to robotics and engineering in general.
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Automática