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Authors
Abstract(s)
A automação industrial não se restringe aos limites físicos de uma fábrica ou instalação industrial de produção, pois cada vez mais os processos são comandados e supervisionados remotamente. Nos dias modernos e com a evolução tecnológica, através de aplicações em dispositivos
eletrónicos, pode-se facilmente realizar um controlo remoto, sem fios, de diferentes periféricos.
A presente dissertação de Projeto Final de Mestrado, Interface Remota Genérica para Braços
Robóticos, tem como objetivo, fazer o estudo teórico, a simulação e um protótipo experimental de uma interface remota genérica, desenvolvida para realizar o controlo de braços robóticos, com recurso a um microcontrolador. O microcontrolador utilizado, possibilita o controlo de braços
robóticos através de três tipos de comunicações distintas, a comunicação série e duas comunicações sem fios, Bluetooth e Wi-Fi.
O trabalho iniciou-se com o estudo do microcontrolador e de dois braços robóticos, o Mentor, um
braço robótico de 1985 e o Dobot Magician, um braço robótico mais recente, comercializado a
partir de 2016. Através da plataforma de desenvolvimento Adafruit Huzzah32 - ESP32 Feather, com um microcontrolador ESP-32 de baixo custo, desenvolvido pela Espressif Systems, foi criada a interface do sistema para controlo de braços robóticos.
O controlo dos braços robóticos adotados, permite demonstrar o conceito da interface remota
genérica desenvolvida. Além disto, foi também desenvolvida, uma interface utilizador-máquina distinta, para cada uma das três comunicações.
Industrial automation is not restricted to the physical limits of a factory or industrial production facility, as more and more processes are remotely controlled and supervised. In modern days technological evolution allows, through applications accessed in any electronic device, one can easily perform a wireless remote control of many peripherals. The present dissertation of Final Master's Project, Generic Remote Interface for Robotic Arms, aims to make the theoretical study, simulation and an experimental prototype of a generic remote interface, developed to perform the control of robotic arms, using a microcontroller. The microcontroller used, allows the control of robotic arms through three distinct communications, serial communication and two wireless communications, Bluetooth and Wi-Fi. The work began with the study of the microcontroller and two robotic arms. The Mentor, a 1985 robotic arm and the Dobot Magician, a newer robotic arm, marketed from 2016. Through the development platform Adafruit Huzzah32 - ESP32 Feather, with a low-cost ESP-32 microcontroller, developed by Espressif Systems, the system interface for robotic arm control was created. The control of the adopted robotic arms allows to demonstrate the concept of the generic remote interface developed. In addition, a distinct user-machine interface has been developed for each available communication.
Industrial automation is not restricted to the physical limits of a factory or industrial production facility, as more and more processes are remotely controlled and supervised. In modern days technological evolution allows, through applications accessed in any electronic device, one can easily perform a wireless remote control of many peripherals. The present dissertation of Final Master's Project, Generic Remote Interface for Robotic Arms, aims to make the theoretical study, simulation and an experimental prototype of a generic remote interface, developed to perform the control of robotic arms, using a microcontroller. The microcontroller used, allows the control of robotic arms through three distinct communications, serial communication and two wireless communications, Bluetooth and Wi-Fi. The work began with the study of the microcontroller and two robotic arms. The Mentor, a 1985 robotic arm and the Dobot Magician, a newer robotic arm, marketed from 2016. Through the development platform Adafruit Huzzah32 - ESP32 Feather, with a low-cost ESP-32 microcontroller, developed by Espressif Systems, the system interface for robotic arm control was created. The control of the adopted robotic arms allows to demonstrate the concept of the generic remote interface developed. In addition, a distinct user-machine interface has been developed for each available communication.
Description
Trabalho Final de Mestrado para obtenção do grau de Mestre
em Engenharia Eletrotécnica – ramo de Automação e Eletrónica Industrial
Keywords
Automação industrial Robótica Controlo remoto Microcontrolador Braço robótico Interface Comunicação série Bluetooth Wi-Fi Industrial automation Robotics Remote control Microcontroller Robotic arm Serial communication
Citation
MIRA, André Filipe Balsas – Interface remota genérica para braços robóticos. Lisboa: Instituto Superior de Engenharia de Lisboa, 2021. Dissertação de Mestrado.
Publisher
Instituto Superior de Engenharia de Lisboa