Card to control 3 degrees of freedom of robots via wifi

Authors

  • José de Jesús Moya Mora Faculty of Electronic Sciences, Master in Electronic Sciences, Automation option, Meritorious Autonomous University of Puebla. Av. San Claudio and 18 Sur S / N C.U. Edif. 109A Col. Jardines de San Manuel, C.P. 72570, Puebla, Pue. Mexico.
  • Sergio Vergara Limón Faculty of Electronic Sciences, Master in Electronic Sciences, Automation option, Meritorious Autonomous University of Puebla. Av. San Claudio and 18 Sur S / N C.U. Edif. 109A Col. Jardines de San Manuel, C.P. 72570, Puebla, Pue. Mexico. https://orcid.org/0000-0002-5215-9262
  • José Fernando Reyes Cortes Faculty of Electronic Sciences, Master in Electronic Sciences, Automation option, Meritorious Autonomous University of Puebla. Av. San Claudio and 18 Sur S / N C.U. Edif. 109A Col. Jardines de San Manuel, C.P. 72570, Puebla, Pue. Mexico. https://orcid.org/0000-0001-5200-7632

DOI:

https://doi.org/10.37636/recit.v227179

Keywords:

FPGA, WIFI Communication Protocol, Hyperbolic Tangent Control.

Abstract

The present work describes the development of a control system for a three D.O.F Cartesian robot using an embedded system where the information transfer is done by the WIFI communication protocol. A description of the mechanical design of the robot is given, as well as the kinematic and dynamic model. It details the design of an acquisition system, developed in FPGA based embedded system of the Altera Cyclone III family, and also the interpretation of the robot signal handling and WIFI communication. In addition, it shows the development of the firmware responsible of the control and communication. Regarding the control, a hyperbolic tangent controller is selected for preliminary results and with these, the Cartesian robot can be analyzed and regulated.

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References

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Representation of the Cartesian robot with 3 degrees of freedom.

Published

2019-05-10

How to Cite

Moya Mora, J. de J., Vergara Limón, S., & Reyes Cortes, J. F. (2019). Card to control 3 degrees of freedom of robots via wifi. Revista De Ciencias Tecnológicas, 2(2), 71–79. https://doi.org/10.37636/recit.v227179

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