Utilización del middleware Orocos en un sistema embebido de placa reducida para implementar un controlador PID de posición en un robot paralelo tipo delta simulado en VREP

Abstract

The present degree work describes the use of the Orocos middleware in the implementation of a PID position controller for a delta type parallel robot simulated in VREP using a reduced plate embedded system. For it, first an embedded development card was selected that meets the hardware requirements and suitable to run the UBUNTU MATE operating system, in which the OROCOS TOOLCHAIN package was installed and executed, this allowed the creation of components and execution of algorithms. Subsequently, the controller was designed based on the dynamic model of the parallel robot, considering the operating conditions and the control strategy to be applied. Next, the parallel robot scene was implemented in the VREP simulator, which is governed by the controller developed in the PYTHON programming language together with the OROCOS package that will allow its execution. Finally, the connection between the embedded card and the simulator was established in the personal computer where the simulated environment in VREP of the parallel robot is located, to verify the operation of the system.