Desarrollo de un simulador de movimientos basado en un generador central de patrones para un robot modular tipo cadena en entornos sin obstáculos, caso de estudio Robot Emerge

Abstract

The ability to adapt to a certain environment or task is the main advantage of modular robots, allowing them to have a wide range of applications in all industries. The EMERGE modular robot is a tool that has been developed since 2016 by universities and institutes, both local and foreign, and is currently being further developed by the GIDENUTAS research group at the Francisco José de Caldas District University. Simulators are an interactive tool to understand the operation of any process and developing a modular robot simulator greatly helps this objective. Currently, a simulation tool has been developed in MATLAB, but it does not have the necessary scope due to licensing issues. In the following document, an investigation was carried out on current modular robot simulators, a description of all the elements used from the operation of the EMERGE modular robot to the development environment and libraries used, the development methodology where the design is described. of the WEB application and finally, the results obtained where we determine the correct compliance with the development of an EMERGE modular robot simulator in a WEB development framework that allows it to be deployed on a server, facilitating the understanding of the technology and its easy access.