Publication: Desarrollo del control por CAN bus de un carril para la silla de ruedas Asibot
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2012-09
Defense date
2012-09-24
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Abstract
El Trabajo de Fin de Grado trata sobre el diseño e implementación de un paquete de funciones basadas en CAN bus. Dichas funciones se encargan de controlar el motor que va montado en el interior de la base que sustenta al robot ASIBOT. Este robot es desarrollado por el grupo de Robotics Lab del Departamento de Ingeniería de Sistemas y Automática de la Universidad Carlos III de Madrid. La arquitectura de control está implementada en C/C++. Para poder comunicarnos con el driver ISCM8005 debemos utilizar una placa que tiene las funciones básicas de un PC, dicha placa es la Roboard, en la que acoplaremos una placa miniPCI que es la HICO.CAN-miniPCI, con dicha placa comunicaremos vía CAN bus con el driver que controla el motor. El proyecto se ha desarrollado en el lenguaje de programación C/C++, la comunicación con los módulos ha sido por medio del protocolo de comunicación CANopen implementado sobre el bus de campo CAN. Este protocolo consigue una comunicación serie para el intercambio de información entre las unidades del sistema y soporta un eficiente control en tiempo real con un nivel de seguridad muy elevado. Las funciones implementadas que se encuentran desarrolladas dentro de la Roboard, son paquetes de CAN bus, que siguen el protocolo CANopen. Dichas funciones son llamadas remotamente utilizando una conexión en la que puede haber múltiples escritores para múltiples lectores (paradigma publicador/suscriptor), que es la conexión mediante YARP. También se ha implementado un programa utilizando un lenguaje exclusivo de Technosoft, que es el TML (Technosoft Motion Language). El TML ha sido usado para desarrollar la fase de inicialización del sistema, ya que se ha programado el sistema para que la base que sustenta el ASIBOT al inicio vaya al extremo negativo y aquí sitúa el cero de referencia para el sistema de coordenadas (función homing). _______________________________________________________________________________________________________________________________
The Final Degree Project is about the design and implementation of a package of functions based on CAN bus. These functions are responsible for controlling the motor which is mounted within the base which supports the robot ASIBOT. This robot is developed by the group of Robotics Lab, Department of Systems Engineering and Automation, Universidad Carlos III de Madrid. The control architecture is implemented in C /C++. To be able to communicate with the driver ISCM8005 we use a plate that has the basic functions of a PC, that Board is the Roboard, in which it a miniPCI board which is the HICO.CAN-miniPCI, with the plate we will communicate via CAN bus driver that controls the motor. The project has been developed in the C programming language, the communication modules has been through the CANopen communication protocol implemented on the CAN field bus. This protocol manages a serial communication for the exchange of information between the system units and supports an efficient control in real time with a very high level of security. The project was developed in the C/C++ programming language. Communication with the modules has been through CANopen communication protocol implemented on CAN fieldbus. This gets a serial communication protocol for exchanging information between system units and supports an efficient real-time control with a very high level of security. The implemented functions that have been developed within the RoBoard are CAN bus packages follow the CANopen protocol. These functions are called remotely using a connection that allows multiple writers for multiple readers (publisher/subscriber paradigm), using YARP. A program that uses an exclusive language of Technosoft, which is TML (Technosoft Motion Language) has also been implemented. TML has been used to develop the system initialization phase, a homing sequence.
The Final Degree Project is about the design and implementation of a package of functions based on CAN bus. These functions are responsible for controlling the motor which is mounted within the base which supports the robot ASIBOT. This robot is developed by the group of Robotics Lab, Department of Systems Engineering and Automation, Universidad Carlos III de Madrid. The control architecture is implemented in C /C++. To be able to communicate with the driver ISCM8005 we use a plate that has the basic functions of a PC, that Board is the Roboard, in which it a miniPCI board which is the HICO.CAN-miniPCI, with the plate we will communicate via CAN bus driver that controls the motor. The project has been developed in the C programming language, the communication modules has been through the CANopen communication protocol implemented on the CAN field bus. This protocol manages a serial communication for the exchange of information between the system units and supports an efficient control in real time with a very high level of security. The project was developed in the C/C++ programming language. Communication with the modules has been through CANopen communication protocol implemented on CAN fieldbus. This gets a serial communication protocol for exchanging information between system units and supports an efficient real-time control with a very high level of security. The implemented functions that have been developed within the RoBoard are CAN bus packages follow the CANopen protocol. These functions are called remotely using a connection that allows multiple writers for multiple readers (publisher/subscriber paradigm), using YARP. A program that uses an exclusive language of Technosoft, which is TML (Technosoft Motion Language) has also been implemented. TML has been used to develop the system initialization phase, a homing sequence.
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Keywords
Robótica, Desarrollo de software, Lenguaje C++ (Lenguaje de programación), Control automático, Sillas de ruedas