Robótica Didáctica implementando Softwares libres.

Abstract

The main purpose of this project is to encourage the use of free software for learning robotics, therefore, an anthropomorphic robot with four degrees of freedom and a three-wheeled omnidirectional mobile robot were built for educational purposes, the application for the Anthropomorphic robot was focused on writing in braille language through pre-established routines, for this robot the articulations were of the rotational type, it has an established fixed end effector that is in charge of writing, for its part, the mobile robot application It is that of a robot waiter, this is in charge of bringing users the orders that they make through a menu of preestablished options through a screen arranged in the robot. The robots start from the design stage until its construction, which is why with the help of CAD software the mechanical design of parts was proposed, likewise a 3D printer was used to print the parts that were considered convenient. It should be noted that both robots had an analysis for the selection of materials depending on their viability, this included motors, controllers, electronic components and electrical design, therefore, their respective kinematic models were taken into account. Finally, regarding the construction of control algorithms for programming, Python was used, which also corresponds to a free and high-level programming language, in the same way libraries of this language were used that allow these calculations to be made. It should be noted that the control of the omnidirectional mobile robot was carried out by means of Bluetooth through the PC wirelessly, while the anthropomorphic robot was done by serial communication by cable, both through the development of a graphical interface that allowed interaction in a simple way. more practice with robots. In order to provide helpful information for future projects, the necessary instructional guides were created to replicate the research project and encourage improvements in future research and its possible continuation. By way of conclusion, it is important to mention the great efficiency that was obtained in terms of the performance of free software in the area of robotics, demonstrating equal or better results than the paid versions, likewise a considerable absence of information was found in relation to the subject of this project, due to the low investment and research using free software.