Publication: Sns_Xsens : la integración del sensor inercial MTi dentro de la arquitectura software YARP
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2010-12
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2010-12-12
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Abstract
El grupo Robotics Lab de la Universidad Carlos III de Madrid, desarrolló en 2004 un primer prototipo del robot asistencial ASIBOT, cuyo nombre en el contexto del proyecto europeo fue MATS (flexible Mechatronic Assistive Technology System to support persons with special needs in all their living and working environments), cuya finalidad es la ayuda y asistencia a personas discapacitadas y de la tercera edad. Este proyecto fin de carrera surge al darse la necesidad de ampliar la gama de dispositivos de control y/o mando del robot asistencial ASIBOT. Para esto se ha desarrollado dicho proyecto, cuyo objetivo específico es la integración del sensor acelerómetro e inclinómetro MTi de la marca Xsens. Su implementación específica consiste en la creación de un software envoltorio de los drivers de bajo nivel del sensor. El envoltorio ha sido programado en lenguaje C++, donde la comunicación entre el sensor y el robot asistencial ASIBOT o componentes software del mismo se realiza por medio de la arquitectura software YARP. Como trabajo adicional, se ha desarrollado un sistema de transformación de datos de texto a una representación gráfica más amigable para desarrolladores de otros componentes. Este componente sirve además para cualquier módulo que cumpla con sus especificaciones. --------------------------------------------------------------------------------------------------------------------------------------------------------------------
In 2004, the Robotics Lab of Carlos III University developed the first prototype of the care robot ASIBOT, whose name in the European project was MATS (flexible Mechatronic Assistive Technology System to support persons with special needs in all their living and working environments). Its main purpose was to give aid and health care to handicapped and senior people. This final project comes to expand the range of control devices of the care robot ASIBOT. It has been developed in order to integrate the MTi accelerometer and inclinometer from Xsens. It implements a wrapper for the low level drivers. The wrapper has been developed in C++ language, and the communication between the sensor and the robot software components is performed under YARP software architecture. Additionally, we have developed a graphic interface to transform textual data into a more developer-friendly graphic representation. This component is reusable by any other module which meets its specs.
In 2004, the Robotics Lab of Carlos III University developed the first prototype of the care robot ASIBOT, whose name in the European project was MATS (flexible Mechatronic Assistive Technology System to support persons with special needs in all their living and working environments). Its main purpose was to give aid and health care to handicapped and senior people. This final project comes to expand the range of control devices of the care robot ASIBOT. It has been developed in order to integrate the MTi accelerometer and inclinometer from Xsens. It implements a wrapper for the low level drivers. The wrapper has been developed in C++ language, and the communication between the sensor and the robot software components is performed under YARP software architecture. Additionally, we have developed a graphic interface to transform textual data into a more developer-friendly graphic representation. This component is reusable by any other module which meets its specs.
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Robótica, Control automático, Robot asistencial, Personas con discapacidad, ASIBOT, Sns_Xsens, Arquitectura software YARP