Diseño e implementación de dos controladores para los brazos robóticos: Antropomórfico y Scara, utilizando microcontroladores ATMEL AVR´S para el Laboratorio de Robótica de la Universidad Politécnica Salesiana Campus Sur.

Abstract

This paper aims to provide the Salesian Polytechnic University two controllers for robotic arms, and Scara Rhino XR-3 Anthropomorphic. We performed some testing techniques in original controllers each robotic arm and concluded that they were old and in poor condition. Innovation was proposed for the control arms using a microcontroller ATMEGA AVR 128, with which you can optimize the weight, power consumption and space. Using the AVR Microcontroller also allows the implementation of other useful applications in robotics, such as computer vision, integrated into XR-3 anthropomorphic arm through a webcam, for the classification of white pieces or other colors changing shade pattern. The robotic arms were equipped with a graphic pad teach using a GLCD display and AVR ATMEGA 164 microcontroller.