Diseño y simulación de un controlador para un péndulo invertido virtual ejecutando el Middleware OROCOS e implementación del controlador en una Raspberry Pi con comunicación al simulador

Abstract

The project contains a controller’s design and simulation for a virtual inverted pendulum executing the middleware OROCOS and its implementation in a Raspberry Pi communicated with the simulator. First the Raspberry Pi was selected to install and run UBUNTU MATE, in which OROCOS TOOLCHAIN was installed and executed, that allowed to create a component and execute the deployer. In addition, the UBUNTU MATE operating system was installed in a virtual machine in order to run ROS, OROCOS and V-REP. In a second stage, the controller for the virtual inverted pendulum was designed to be executed in both the virtual machine and the Raspberry Pi. Later on, the virtual inverted pendulum scene was implemented to execute its driver, written in Python, through the API to link OROCOS TOOLCHAIN and PHYTON. Finally, the connection was established by means of a data acquisition interface between the Raspberry Pi and the virtual pendulum scene in V-REP for its respective control.