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Roberto Herrera Esteban Departamento de Ingenier´ıa de Sistemas y Automatica´ TRABAJO FIN DE GRADO Generacion´ de trayectorias de caminata para robot minihumanoide de bajo coste Grado en Tecnolog´ıas Industriales Autor: Roberto Herrera Esteban Director: F´elixRodr´ıguezCa~nadillas Tutor: Alberto Jard´onHuete Legan´es,Septiembre 2014 ii iii T´ıtulo: Generaci´onde trayectorias de caminata para robot minihumanoide de bajo coste Autor: Roberto Herrera Esteban Director: F´elixRodr´ıguezCa~nadillas Tutor: Alberto Jard´onHuete EL TRIBUNAL Presidente: Javier Sanz Feito Vocal: Francisco Jos´eRodr´ıguezUrbano Secretario: Plinio Jes´usPinz´onCastillo Realizado el acto de defensa y lectura del Trabajo Fin de Grado el d´ıa30 de Septiembre de 2014 en Legan´es,en la Escuela Polit´ecnicaSuperior de la Universidad Carlos III de Madrid, acuerda otorgarle la CALIFICACION´ de: VOCAL SECRETARIO PRESIDENTE iv Agradecimientos A todos mis amigos y compa~nerosque me han acompa~nadoestos ´ultimosa~nos,en especial a la gente de ASROB que me han ensa~nadomucho en este tiempo, y a Alazne por acompa~narmey haberme motivado en todo momento. En especial, me gustar´ıadar las gracias a mis padres y al resto de mi familia por ayudarme a llegar hasta aqu´ı. v vi AGRADECIMIENTOS Resumen En este proyecto se pretende desarrollar un sistema hardware/software para la realizaci´on de la caminata de un robot mini-humanoide. Este robot es un prototipo de de bajo coste completamente imprimible por una impresora 3D dom´estica. Para ello, se realizar´aun estudio de los diferentes procedimientos utilizados para esta tarea, se seleccionar´anlos componentes hardware y se crear´ael software necesario para la implemen- taci´onde la tarea de desplazar al robot. El objetivo final de este proyecto es participar con el prototipo en concursos de rob´otica mini-humanoide, como CEABOT, en el se pondr´ana prueba los desarrollos utilizados. Palabras clave: Bajo Coste, Mini-Humanoide, Imprimible 3D, CEABOT. vii viii RESUMEN Abstract This project is intended to develop a hardware / software system for the realization of the walk of a mini humanoid robot. This robot is a prototype of low cost fully printable a home 3D printer. For this, a study of the different procedures used to perform this task, the hardware compo- nents are selected and required to implement the task of moving the robot software is created. The ultimate goal of this project is to participate in mini-humanoid robotics competitions with the prototype, as CEABOT, in which developments will test used. Keywords: Low-Cost, Mini-Humanoid, 3D printable, CEABOT. ix x ABSTRACT ´Indice general Agradecimientos V Resumen VII Abstract IX 1. Introducci´on 1 1.1. Asociaci´onde rob´oticaASROB . 1 1.2. Objetivos . 3 1.3. Estructura del documento . 4 2. Marco de trabajo 7 2.1. Competici´onCEABOT . 7 2.1.1. Restricciones . 7 2.1.2. Pruebas . 8 2.2. Robot MYOD . 10 2.2.1. Descripci´onGeneral . 11 2.2.2. Motricidad del prototipo y servomotores . 14 3. Estado del arte 19 3.1. Introducci´on. 19 3.2. Robot Comerciales que pueden participar en CEABOT . 21 3.2.1. Robonova-1 . 21 3.2.2. Bioloid . 23 3.2.3. Kondo KHR-3 . 24 3.3. Estado del arte en caminatas humanoides . 25 3.4. Comparativa de placas de control . 27 3.4.1. Arduino Mega 2560 . 27 3.4.2. Raspberry Pi B . 28 3.4.3. BeaggleBound Black . 29 3.4.4. Intel Galileo . 30 3.4.5. RoBoard RB-110 . 31 3.5. Herramientas matem´aticaspara la rob´otica. 32 3.5.1. Sistemas de coordenadas . 32 3.5.2. Representaci´onde la orientaci´on. 34 3.5.3. Matriz de transformaci´onhomog´enea . 38 3.6. Control cinem´atico . 39 3.6.1. Problema Cinem´aticoDirecto . 39 3.6.2. Problema Cinem´aticoInverso . 41 3.6.3. Matriz Jacobiana . 43 xi xii ´INDICE GENERAL 4. Cinem´aticadel robot MYOD 45 4.1. C´alculode la cinem´aticapor el m´etodo matricial . 45 4.1.1. Metodolog´ıa . 45 4.1.2. Obtenci´onde las matrices de transformaci´onpor el m´etodo DH . 46 4.1.3. Pierna derecha de la versi´onancha . 46 4.1.4. Pierna derecha de la versi´onestrecha . 47 4.1.5. Relacionar la transformada homog´eneacon las ecuaciones de la cinem´atica48 4.1.6. Desventajas de este m´etodo para la implementaci´onen este proyecto . 50 4.2. Estudio cinem´aticopor superposici´onde movimientos . 51 4.2.1. Introducci´on. 51 4.2.2. Presentaci´onde los subconjuntos . 52 4.2.3. Subconjunto del movimiento de avance ................... 55 4.2.4. Subconjunto del movimiento de rodilla ................... 56 4.2.5. Subconjunto del movimiento de balanceo . 62 4.2.6. Subconjunto del movimiento de rotaci´onde la cintura . 85 4.2.7. Subconjunto del movimiento de brazos ................... 86 4.3. Trayectorias de movimiento para los estudios de superposici´on . 88 4.3.1. Trayectoria sinusoidal . 88 4.3.2. Trayectoria de pulso . 89 4.3.3. Trayectoria triangular . 91 4.4. Desfases para los movimientos de caminata . 92 4.4.1. Introducci´on. 92 4.4.2. Submovimiento de cadera . 93 4.4.3. Submovimiento de rodilla . 93 4.4.4. Submovimiento de avance . 94 4.4.5. Submovimiento de cintura . 94 4.4.6. Submovimiento de brazos . 94 4.5. Otros movimientos para mover al robot en el plano . 95 4.5.1. Movimiento de arranque y parada . 95 4.5.2. Movimiento de giro . 98 4.5.3. Movimiento de desplazamiento lateral . 99 5. Selecci´onde componentes 101 5.1. Alimentaci´onde los motores . 101 5.1.1. Bater´ıa. 101 5.1.2. Regulador . 102 5.2. Controladora . 107 5.2.1. Arduino MEGA 2560 . 108 5.3. Esquema el´ectricob´asicoy adaptaciones . 112 5.3.1. Adaptaciones para la compatibilidad entre elementos . 112 5.3.2. Esquema el´ectrico. 113 5.4. Montaje Hardware . 114 6. Software propio del proyecto 117 6.1. Software de partida . 117 6.1.1. Librer´ıaServo . 117 6.2. Trim o ajuste de posici´on . 118 6.2.1. Implantaci´on . 119 6.2.2. Programa para modificar el trim . 120 6.3. Librer´ıaMYOD en Arduino para el control del robot. 122 6.3.1. La importancia de la variable tiempo . 123 6.3.2. M´etodo move .................................123 ´INDICE GENERAL xiii 6.3.3. Principios matem´aticosdel m´etodo move . 124 6.3.4. Composici´onde la clase Robot en la implementaci´on. 125 6.3.5. Implementaci´ondel m´etodo move . 125 6.3.6. Flujograma del m´etodo move . 127 6.3.7. M´etodos de la clase Robot . 127 6.3.8. Resumen de m´etodos . 128 6.3.9. Generaci´onde trayectorias complejas . 129 6.4. Generador de caminatas . 129 6.4.1. Funcionamiento . 129 6.4.2. Flujograma del programa . 134 6.4.3. Flujograma de la funci´ondel c´alculo . 135 6.4.4. Formato de salida del fichero . 136 6.4.5. Ejemplo. Incluir el archivo exportado en un programa para Arduino . 137 6.5. Generador de movimientos por cinem´aticadirecta . 138 6.5.1. Funcionamiento . 139 6.6. Conversor de texto a formato de c´odigo. 144 7. Pruebas Experimentales 147 7.1. Viabilidad de las trayectorias . 147 7.1.1. Pruebas con balanceo . 148 7.1.2. Pruebas de balanceo con movimiento de rodilla . 152 7.1.3. Pruebas de balanceo, movimiento de rodilla y movimiento de avance . 156 7.1.4. Conclusiones preliminares . 161 7.2. Optimizaci´onde la caminata . 162 7.2.1. Ajustes de los valores limitantes y rango de valores ´optimos. 162 7.2.2. Ajuste de valores de cintura y brazos . 166 7.2.3. Ajustes de inclinaci´on . 166 7.2.4. Ajustes del centro de gravedad . 168 7.3. Otros movimientos . 168 7.3.1. Movimiento de arranque y parada . 169 7.3.2. Movimiento de desplazamiento Lateral y Giro . 170 8. Conclusiones 171 8.1. Desglose de conclusiones . 171 8.1.1. Actuadores . ..
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