PWM modulation control for robotic system

• Grant number: 06/03945-2
• Support type: Scholarships in Brazil - Scientific Initiation
• Effective date (Start): August 01, 2007
• Effective date (End): July 31, 2008
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Principal researcher: Roseli Aparecida Francelin Romero
• Grantee: Ivo Takao Futida
• Home Institution: Instituto de Ciências Matemáticas e de Computação (ICMC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

The project consists basically in the construction of an automated robot to the category "small size" robot soccer, together with soccer robot team of ICMC (Computer and Applied Mathematics Institute-São Paulo University, São Carlos campus. The main broached topic concerns to the control part of the robot, that in this case, would be the performance of a microcontoller under the motors, for that a determined power is applied and consequently effects the requisite twisting force to carry out the movement, the PIC microcontroller will control velocity array under the wheels, by the PWM (Pulse-width modulation) modulation, turning possible to the robot make curves, turns, according to programming contents implemented (C/C++ language). The control system is with no doubt, a high responsibility and function system to the work done by the robot, by analogy with its uses in industry, at the study of mechatronic devices, therefore a very important tool to be explored and which research advances until nowadays. The project also makes an approach of the mechanics of the robot "car", that was also entrusted to the student, together with the ICMC's soccer robot team, once the control will work directly on the motors, that are disposed in this box and from it generates the previous power for the movement. The motor generates by the provided energy, a determined twisting force that much times implicates a very high velocity, growing the robot very instable, and a stop time high too, because of desaceleration rate bonded to velocity. The moto-reductors available in the market have usually a very big size and for this reason the possibility to couple a reduction box is studied. This system is pattern for machines, automobiles, robots and its constitution will therefore be taken for consideration. (AU)