Publication: Outdoor robot : characteristics and calculation of the mathematical model
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2011-02
Defense date
2011-03-24
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Abstract
The objective of the following project is to work on an outdoor robot. It has been designed to explore and work in open areas or indoor places as big pipes or caves. The main idea of the project is to develop the movements of the robot. For which the program MATLAB is used to simulate the trajectories.
The robot can make some type of movements; they are evaluated acording to the characteristics and the restrictions of the robot. First all the components of the robot are analysed. Once finished the analysis, it is used to develop the possible trajectories of the robot.
The robot is controlled by a small PC that it is connected to 4 EPOS controllers, one per wheel. For the communication between the controllers it is used the CANopen protocol. It has also two encoders connected which read the angle of the directions from the rear and the front wheels. The front wheels are moved in parallel, due to the fact that they are connected by a pulley. The rear wheels are connected in the same way as the front wheels.
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Robótica, Microelectrónica, Modelos matemáticos