Publicado:
2023-05-25Número:
Vol. 17 Núm. 1 (2023)Sección:
Visión de Caso3 DOF robot programmed with PIC 18f45k22 for handling materials in a robotic cell
Robot de 3 DOF programado con PIC 18f45k22 para manipulación de materiales en una celda robotizada
Palabras clave:
3 DOF, I2C, Microcontroller, Peter Corke, Robotic arm, UART (en).Palabras clave:
3 DOF, I2C, Microcontrolador, Peter Corke, Brazo robótico, UART (es).Descargas
Resumen (en)
This paper presents the interaction between different devices for the operation of the prototype of a 3-degree robotic arm applied to a robotic cell, which was programmed with a low-cost microcontroller (PIC18F45K22), using serial communication peripherals (UART and I2C), LCD and three presence sensors (infrared). In addition, the robot work area is presented, making use of Peter Corke's robotics toolbox in Matlab, as well as the printed circuit board (PCB) designed in EasyEDA for the electrical connections of the microcontroller and the other electronic components that work simultaneously with the robot. Finally, the results obtained by means of points and trajectories with different operating modes are presented through physical and simulated tests in Matlab.
Resumen (es)
Este documento presenta la interacción entre diferentes dispositivos para el funcionamiento del prototipo de un brazo robótico de 3 grados aplicado a una celda robotizada, el cual fue programado con un microcontrolador de bajo costo (PIC18F45K22), utilizando periféricos de comunicación serial (UART e I2C), LCD y tres sensores de presencia (infrarrojos). Además, se presenta el área de trabajo del robot, haciendo uso del toolbox de robótica de Peter Corke en Matlab, así como la placa de circuito impreso (PCB) diseñada en EasyEDA para las conexiones eléctricas del microcontrolador y los demás componentes electrónicos que trabajan simultáneamente junto al robot. Finalmente, se presentan los resultados obtenidos mediante puntos y trayectorias con diferentes modos de funcionamiento mediante pruebas físicas y simuladas en Matlab.
Referencias
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