Publication: Migración de la plataforma a bordo del robot asistencial ASIBOT
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2009-11
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2009
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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 actualizar el hardware interno a bordo del robot, solventando así problemas encontrados en las fases de pruebas con usuarios reales, y superando las limitaciones del anterior sistema de comunicaciones interno. En este contexto se ha desarrollado dicho proyecto, cuyo objetivo era la migración de la aplicación original a bordo de ASIBOT a un sistema Linux embebido con capacidades de tiempo real en una tarjeta phyCORE PXA270 siendo capaz de dar respuesta a una comunicación interna entre distintos dispositivos basada en el bus CAN y una comunicación externa mediante el protocolo Wi-Fi 802.11b. Para ello, ha sido necesario sustituir el sistema operativo anterior, utilizando diferentes drivers específicos y diferentes herramientas para su programación. Esto ha implicado una completa migración del código fuente original, mediante múltiples recompilaciones y adaptaciones de los módulos del kernel hasta conseguir el correcto funcionamiento del sistema y los dispositivos. ____________________________________________________
The RoboticsLab research group, part of University Carlos III de Madrid, developed a first prototype of the assistive robot ASIBOT in 2004. Its name in European project context was MATS (flexible Mechatronic Assistive Technology System to support persons with special needs in all their living and working environments). Its objective is helping and assisting impaired and elder people. This career-end project is derived from the need of updating the robot’s internal hardware. This way, problems found in test phases with real patients and internal communication limitations of the predecessor system were reduced. This is the context in which the project has been developed. Objectives were integration with a Linux system with real time capacities, on board phyCORE PXA270, capable of managing internal communications between modules, such as motor controllers, sensors, etc., based on CAN-bus and external communications using the 802.11b wireless protocol, making the complete migration to the ASIBOT’s application. For this, the previous operating system had to be replaced, specific hardware drivers had to be substituted, migration to different APIs had to be performed. This is, tasks implied a complete migration of the original source code at the end of the Project, along with the multiple adaptations of modules and kernel recompilation necessary for the correct functioning of the system and their devices.
The RoboticsLab research group, part of University Carlos III de Madrid, developed a first prototype of the assistive robot ASIBOT in 2004. Its name in European project context was MATS (flexible Mechatronic Assistive Technology System to support persons with special needs in all their living and working environments). Its objective is helping and assisting impaired and elder people. This career-end project is derived from the need of updating the robot’s internal hardware. This way, problems found in test phases with real patients and internal communication limitations of the predecessor system were reduced. This is the context in which the project has been developed. Objectives were integration with a Linux system with real time capacities, on board phyCORE PXA270, capable of managing internal communications between modules, such as motor controllers, sensors, etc., based on CAN-bus and external communications using the 802.11b wireless protocol, making the complete migration to the ASIBOT’s application. For this, the previous operating system had to be replaced, specific hardware drivers had to be substituted, migration to different APIs had to be performed. This is, tasks implied a complete migration of the original source code at the end of the Project, along with the multiple adaptations of modules and kernel recompilation necessary for the correct functioning of the system and their devices.
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Robótica, Personas con discapacidad