Ensamblaje y Control de un Robot con Arquitectura Antropomórfica de 5 Grados de Libertad: Tomo II.

Abstract

In Volume II of this curricular integration work, the purpose is controlling the robot with 5 degrees of freedom that was assembled in Volume I. For which the control is carried out in low-level and high-level language, the same which will be linked by a shared memory block. For the low-level language, a microcontroller from the Arduino platform is used to control all the motors, allowing both the sending and receiving the information using RS-485 serial communication, while the high-level program contains the programming of the inverse kinematics, which was analyzed in Volume I, for the control of the angles of movement, the algorithm for drawing figures and the graphical user interface, all of this carried out with the help of Matlab software. Finally, there is a shared memory developed in the Visual Studio software, in which the conditioning of the data is held, both input and output, and the sending of these between Matlab and Arduino. To verify the results obtained, the drawing of figures will be carried out using a simulation of the arm with 5 degrees of freedom made in Matlab with the same dimensions of the real model in contrast to the physical arm. At the end of this project, the control and systems laboratory will have a prototype of an articulated arm in which different control algorithms can be tested to ensure that the arm performs the tasks that the user needs, as long as these are are within the physical capabilities of the robot.