Publication: Diseño y desarrollo de un módulo de conexión a canopen de un sensor comercial fuerza/par
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2011-02
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2011-02-11
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Abstract
En los últimos tiempos la investigación en robótica se está centrando en el perfeccionamiento e incremento de la autonomía de los sistemas robotizados. Para ello, los robots, tanto industriales como asistenciales, incorporan cada vez más elementos de sensorización externa, para conseguir una mayor eficacia y flexibilidad a la hora de realizar sus tareas. A pesar de que el sector de la sensorización está muy desarrollado y que existen infinidad de dispositivos con muchas y diferentes características, la mayoría de estos han sido diseñados para trabajar en entornos industriales en los que prima la robustez por encima de otras características como tamaño, peso o flexibilidad. Este problema surge también a la hora de equipar al robot asistencial ASIBOT con una unidad de control de fuerza y par. Esta circunstancia ha dado lugar al diseño y desarrollo de un módulo que se compone del sistema de adquisición de datos de un sensor comercial de fuerza/par y la electrónica necesaria para integrarlo en un sistema de comunicaciones CAN-Bus como es el que posee el robot asistencial ASIBOT. Con estas premisas, se ha diseñado un dispositivo de tamaño reducido, muy ligero y que permite una gran flexibilidad para ser utilizado en diferentes plataformas. Para el desarrollo del proyecto se ha partido de un sensor comercial de fuerza/par de JR3®, que facilita la lectura de fuerza y par a través de una comunicación serie. Estos datos serán recogidos por un microcontrolador y serán tratados para posteriormente poder ser enviados a través del CAN-Bus, para lo que se ha diseñado e implementado toda la electrónica necesaria. El diseño software se ha realizado utilizando las herramientas facilitadas por el entorno de desarrollo de Microchip®. _______________________________________________________________________________________________________
Recently robotics research is focusing on improving and increasing the autonomy of robotic systems. To do this, robots, both industrial and assistive, increasingly incorporating elements of external sensor network to achieve greater efficiency and flexibility to perform their tasks. Although the field of sensor network is very developed and there are plenty of devices with many different features, most of these have been designed to work in industrial environments where robustness premium over other features such as size, weight and flexibility. This problem also arises when wanting to equip the assistive robot ASIBOT with a force/torque unit control. This has resulted in the design and development of a module that consists of data acquisition system of a commercial sensor force/torque and electronics needed to integrate a communications system such as CAN-Bus. With these premises, we designed a small, very lightweight device, that allows great flexibility to be used on different platforms. The starting point of the development of this project is a JR3® commercial force/torque sensor, which facilitates the reading of force and torque through a serial communication. Data will be collected by a microcontroller and will be treated and later to be sent through the CAN-Bus, for which we designed and implemented all the necessary electronics. The software design was performed using the tools provided by Microchip's® development environment.
Recently robotics research is focusing on improving and increasing the autonomy of robotic systems. To do this, robots, both industrial and assistive, increasingly incorporating elements of external sensor network to achieve greater efficiency and flexibility to perform their tasks. Although the field of sensor network is very developed and there are plenty of devices with many different features, most of these have been designed to work in industrial environments where robustness premium over other features such as size, weight and flexibility. This problem also arises when wanting to equip the assistive robot ASIBOT with a force/torque unit control. This has resulted in the design and development of a module that consists of data acquisition system of a commercial sensor force/torque and electronics needed to integrate a communications system such as CAN-Bus. With these premises, we designed a small, very lightweight device, that allows great flexibility to be used on different platforms. The starting point of the development of this project is a JR3® commercial force/torque sensor, which facilitates the reading of force and torque through a serial communication. Data will be collected by a microcontroller and will be treated and later to be sent through the CAN-Bus, for which we designed and implemented all the necessary electronics. The software design was performed using the tools provided by Microchip's® development environment.
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Robótica, Sensores, Microelectrónica