Final Degree Projects

This TFG develops the velocity control of a robotic arm, enabling movement in Cartesian space through teleoperation. The operator specifies where and how fast the tip of the manipulator should move, and the system translates that command into the coordinated motion of every joint.

To achieve this, it implements velocity inverse kinematics algorithms that transform Cartesian commands into joint velocities. The result is intuitive control: the manipulator responds naturally to the operator's intentions, without having to reason joint by joint.

The ultimate goal is for this arm to be integrated with our HORU robot, giving it manipulation capabilities for rescue tasks: clearing obstacles, operating mechanisms or picking up objects in hostile environments.

This TFG tackles the redesign of Donatello's control software. The original system, implemented in Simulink, was not well suited for developing a robotic architecture, and its complex startup reduced the robot's availability. Using Linux and ROS 2 allows a modular, scalable structure that is consistent with today's robotics tools.

The transition to ROS 2 is accompanied by replacing the Arduino Mega 2560 board with an ESP32, capable of running concurrent tasks through FreeRTOS. On this hardware, a low-level control node is developed using micro-ROS, integrating the microcontroller as one more node within the ROS 2 environment.

This integration unifies the robot's architecture and guarantees the full operation of its operating modes: teleoperation, mapping and localization, and autonomous navigation.