Publication: Integración de un sensor láser 3D en el manipulador móvil Manfred
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2013
Defense date
2013-07-23
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Abstract
La robótica móvil es una de las ramas de la robótica de más inestigación y desarrollo en la actualidad. Tiene la ventaja de poder
emplearse en cualquier lugar que sea necesario, por esto, es necesarario
modelar el entorno que rodea al robot para la navegación.
Existen diferentes líneas de investigación y desarrollo en el modelado del entorno. Las más antiguas se basan en el efecto SONAR con
ultrasonidos y RADAR con microondas, y las más modernas se basan
en la luz láser, como el LIDAR, y por último la Kinect.
Este proyecto se basa en la utilización de un sensor láser Hokuyo
UTM-30lx y un motor Dynamixel EX-106+ para hacer girar el l aser,
y la creación del software necesario para hacer que estos cumplan las
funciones necesarias, con el fin de obtener mapas tridimensionales para
la posterior utilización del robot manipulador MANFRED.
The mobile robotic is a robotic area of more research and development at the moment. It has the advantage of being used wherever necessary. For this it is necessary model the environment around the robot for navigation. There are di erent lines of research and development in environmental modeling. The oldest are based on the SONAR e ffect with ultrasonic and RADAR with microwave and modern are based on laser light sush as LIDAR and nally the Kinect. This project is based on the use of a laser sensor Hokuyo UTM-30lx and a motor Dynamixel EX-106+ for rotating laser and the creation of software to make these devices meet the required functions. This is in order to get three-dimensional maps for further use of the robot manipulator MANFRED.
The mobile robotic is a robotic area of more research and development at the moment. It has the advantage of being used wherever necessary. For this it is necessary model the environment around the robot for navigation. There are di erent lines of research and development in environmental modeling. The oldest are based on the SONAR e ffect with ultrasonic and RADAR with microwave and modern are based on laser light sush as LIDAR and nally the Kinect. This project is based on the use of a laser sensor Hokuyo UTM-30lx and a motor Dynamixel EX-106+ for rotating laser and the creation of software to make these devices meet the required functions. This is in order to get three-dimensional maps for further use of the robot manipulator MANFRED.
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Keywords
Robótica, Láser, Sensores, Desarrollo de software, Robótica móvil