Robotização de uma cadeira de rodas

• Autor(a) principal: Filgueira, Patrick Noé dos Santos
• Data de Publicação: 2011
• Tipo de documento: Dissertação
• Idioma: por
• Título da fonte: Repositório Institucional da Universidade Federal do Espírito Santo (riUfes)
• Texto Completo: http://repositorio.ufes.br/handle/10/9627
• topic: Cadeira de Rodas Robotizada; Controlador de baixo nível; Rede CAN; Sistema de tempo real; Supervisório; Ponte H; PWM e sinais biológicos; Controlador de baixo nível; Eletrônica Industrial, Sistemas e Controles Eletrônicos; Robótica; Acionamento elétrico; Cadeiras de rodas; 621.3

In this work, it is developed a system of low-level control for a robotic wheelchair controlled by biological signals, including hardware (motor driver board) and software (firmware running on microcontroller). The goal is to support a high-level control system that captures, processes and interprets biological signals to control a robotic wheelchair. In this work a special focus is given to electronics, real-time operating system applied to robotic wheelchair and also low level controller applied to their. The control electronics of the wheelchair used an industrial communication network, the CAN network to support all application and control algorithms. All tasks implemented are managed by a realtime operating system. The low-level controller implemented allows independently control of the angular and linear speeds of the wheelchair. To achieve the objective proposed in this work, it was necessary to manipulate devices of power electronics, programming, algorithms, control and instrumentation, CAN network, real-time system, data storage and automatic control.