Estancia de investigación en circuitos embebidos y sistemas en chip aplicados a robótica y control.

Abstract

This monograph describes the works and obligations that were carried out in the research stay, which consisted first in supporting the design of a PCB board, which will be used for the creation of a small servomotor. This will be implemented in the construction of a robotic hand able to carry out manipulation tasks; this board was designed in software Eagle, of Autodesk, which provides a free license for three years, in addition to having good compatibility with Solidworks software. During the course of the entire internship, we attended the discipline of "Bioinspired Algorithms for Engineering", with which we were able to contribute in the realization of a scientific article, which contains different types of bioinspired algorithms to perform the tuning of a controller. Impedance. The base algorithms that were worked were PSO (Particle Swarm Optimization), and DE (Diferential evolution), applying artificial diversity methods to improve the efficiency of the base algorithms, the algorithms are compared applying statistical analysis, hypothesis tests and the response of the controller of each one. Finally, we worked in the area of programming ARM circuits in chips, for which a discipline called "Digital Systems" was taken, with this acquired knowledge in the area of hardware description language called VHDL (from English " VHSIC Hardware Description Language "), used to synthesize circuits in FPGAs (both of the manufacturers of Xilins, as of Altera). The work carried out in this field allowed the development of a "master i2c module", this module allows configuring and reading data from a digital analog converter (ADS1115) from an FPGA.