Embedded solutions for a class of highly unstable, underactuated and self-balancing robotic systems
作者: Andrea BonciMassimiliano PiraniSauro Longhi
作者单位: 1Universita’ Politecnica delle Marche, Dipartimento di Ingegneria dell’Informazione (DII)
刊名: EURASIP Journal on Embedded Systems, 2017, Vol.2017 (1), pp.1-18
来源数据库: Springer Journal
DOI: 10.1186/s13639-016-0046-6
关键词: MicrocontrollersCollaborative roboticsCyber-physical systems
英文摘要: This paper presents a didactic framework in embedded electronics systems that is used to elicit awareness into students and engineers on the design issues arising in the realization of a class of underactuated robots and aerial vehicles that needs be robustly controlled due to their intrinsic unstability. The applications prototyped on the embedded platform presented here are conceived, by design, to be compliant with tiny collaborative robotics applications in order to adhere to the needs of the complex cyber-physical systems problem. The proposed platform is self-contained with on-board sensing and computation. Its engineering uses only off-the-shelf and mass production components. The system is based on a general purpose embedded board equipped with a 32-bit microcontroller which is...
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