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    •   Academica-e
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    • Escuela Técnica Superior de Ingeniería Industrial, Informática y Telecomunicación - Industria, Informatika eta Telekomunikazio Ingeniaritzako Goi Mailako E.T.
    • Trabajos Fin de Grado ETSIIT - TIIGMET Gradu Amaierako Lanak
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    Hole detection, gripping and I2C communication of a climbing robot

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    Dios Ursúa, Carlos Juan de.pdf (2.978Mb)
    Date
    2016
    Author
    Dios Ursúa, Carlos Juan de 
    Advisor
    Uran, Suzana 
    Version
    Acceso abierto / Sarbide irekia
    Type
    Trabajo Fin de Grado/Gradu Amaierako Lana
    Impact
     
     nodoi-noplumx
     
     
     
     
     
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    Abstract
    This project will consist in programming a part of the entire climbing robot programming. In the Image 2 is shown a scheme of the different programs that the robot is going to have. First of all, the gripper program is the one that is going to be develop in this project, then, there will be also needed a program for controlling the servos, another one to control the central microchip, which will ... [++]
    This project will consist in programming a part of the entire climbing robot programming. In the Image 2 is shown a scheme of the different programs that the robot is going to have. First of all, the gripper program is the one that is going to be develop in this project, then, there will be also needed a program for controlling the servos, another one to control the central microchip, which will be the I2C master and, finally, one extern program for a Raspberry Pi to communicate with the central microchip using Bluetooth. Image 2. Scheme of robot communication The aims of this project, as a part of the robot climbing to program the gripper, are mainly three. The first is detecting the holes on the wall with a distance sensor, the second one, controlling the motor that lets the robot grip on the wall and the third one communicate the pic with other pics of the robot using I2C protocol. The gripper, which is the final element of the robot, is in which the sensors and the mechanism to grip are held and, as consequence, is the only structure that has been used to develop this project. For this project, have been needed two sharp sensors GP2Y0A21YK0F, the gripper, and a printed board with the microchip. After this little introduction to have an idea of how the project is organized and its objectives, the different parts of the project will be carefully explained. [--]
    Subject
    Climbing robot, Holes, Concrete structures
     
    Departament
    Universidad Pública de Navarra. Departamento de Ingeniería Eléctrica y Electrónica / Nafarroako Unibertsitate Publikoa. Ingeniaritza Elektriko eta Elektronikoa Saila
     
    Degree
    Graduado o Graduada en Ingeniería Eléctrica y Electrónica por la Universidad Pública de Navarra / Ingeniaritza Elektriko eta Elektronikoko Graduatua Nafarroako Unibertsitate Publikoan
     
    URI
    https://hdl.handle.net/2454/26564
    Appears in Collections
    • Trabajos Fin de Grado - Gradu Amaierako Lanak [2797]
    • Trabajos Fin de Grado ETSIIT - TIIGMET Gradu Amaierako Lanak [825]
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