Controle de múltiplos servomotores: animação em robótica

Abstract

In order to move the head and upper limbs of a prototype humanoid robot, developed an algorithm to automate multiple servo motors, in which these act as joints of the robot structure. As this is a prototype, the presented algorithm is generic and has been adapted to allow future changes in the robot. In addition, a spreadsheet calculation was generated as an interface between the code and the user, so that it can change or create new animations for the robot. To simulate the logic of the algorithm, a CAD model is projected. The structure uses twelve servomotors, in which two are used in the head and five are used for each arm, thus, the algorithm divides each member in a separate module, so that they operate independently. The CAD design also allows the user to manage the angles limits of the servomotors. The algorithm is used in a development platform, which will act as a controller. When implemented along the articulated structure, the controller will operate as an embedded system capable of moving the structure. The system also allows the deployment of sensors capable of generating interrupts, animations or even seek mechanical stability through control of the digital servomotors. The process despite sequence was able to articulate twelve different servomotors without any significant delay in movement. In short, the controller becomes a good choice for use in embedded systems, running for automation and control structure.