Uso de matlab y simulink para el control de robots y la observación de sensores de luz y ultrasónico

Abstract

This project consists in the design and construction of a Robotic Arm with a belt conveyor, it is based on the principle of beverage containers. The main objective is to work in the field of robotics using the Lego Mindstorms NXT kit and software tools such as Matlab and Simulink. The Robotic arm has a two stages sequence, one to detect the right level of containers and the second to detect the wrong level. These levels are measure by an ultrasonic sensor. The light sensor detects the presence of the container, and the touch sensor is used to stop the sequence of the robotic arm. Matlab is used to create an algorithm for the acquisition of ultrasonic sensor data in real time. The servomotor HS311 is used to move the conveyor belt, which is controlled by the PIC-16F628A. In addition, two infrared sensors are used as inputs to the microcontroller, one is to read the level of container and the second to grab the container.