?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=Gesti%C3%B3n+de+los+perif%C3%A9ricos+de+la+plataforma+CPWalker+mediante+el+microcontrolador+F28379D&rft.creator=D%C3%ADaz+Lago%2C+Esteban&rft.contributor=Naranjo+Hern%C3%A1ndez%2C+Jos%C3%A9+Eugenio&rft.contributor=Roc%C3%B3n+de+Lima%2C+Eduardo&rft.contributor=Lora+Mill%C3%A1n%2C+Julio+Salvador&rft.subject=Computer+Science&rft.subject=Robotics+and+Industrial+Computing&rft.description=La+microprogramaci%C3%B3n+a+diferencia+de+la+programaci%C3%B3n+prop%C3%B3sito+general%2C+utiliza+instrucciones+de+bajo+nivel+para+el+control+de+aparatos+electr%C3%B3nicos.+En+este+proyecto+se+desarrollar%C3%A1+el+control+del+exoesqueleto+rob%C3%B3tico+de+la+plataforma+rob%C3%B3tica+CPWalker%2C+basado+en+la+tarjeta+de+desarrollo+de+Texas+Instruments+TMS320F28379D.+La+plataforma+CPWalker+fue+dise%C3%B1ada+para+la+rehabilitaci%C3%B3n+de+ni%C3%B1os+con+par%C3%A1lisis+cerebral%2C+desarrollada+por+el+Grupo+de+Ingenier%C3%ADa+Neuronal+y+Cognitiva+perteneciente+al+Centro+de+Autom%C3%A1tica+y+Rob%C3%B3tica+del+CSIC.+Actualmente+implementado+mediante+la+herramienta+Matlab-Simulink%2C+el+sistema+de+control+genera+las+trayectorias+de+los+movimientos+necesarios+para+la+recuperaci%C3%B3n+de+la+movilidad+en+las+piernas+de+estos+ni%C3%B1os+y+controla+el+movimiento+de+los+actuadores+de+la+plataforma.+La+finalidad+de+este+proyecto+es+conseguir+gestionar+los+perif%C3%A9ricos+del+microcontrolador+directamente%2C+mediante+c%C3%B3digo+C%2C+y+establecer+un+entorno+para+la+programaci%C3%B3n+de+las+rutinas+de+control.+Esto+posibilita+configurar+los+perif%C3%A9ricos+del+microcontrolador+de+forma+m%C3%A1s+precisa+y+vers%C3%A1til+y+sin+las+restricciones+impuestas+por+Matlab-Simulink.+La+programaci%C3%B3n+se+ha+realizado+con+la+herramienta+Code+Composer+Studio%2C+la+cual+incluye+las+librer%C3%ADas+necesarias+para+el+control+del+microcontrolador.+Los+principales+buses+de+comunicaci%C3%B3n+que+se+han+implementado+son+el+bus+CAN+y+el+bus+SPI%2C+para+la+recepci%C3%B3n+de+los+sensores+del+robot%2C+y+la+gesti%C3%B3n+de+los+actuadores+respectivamente.+Adem%C3%A1s%2C+mediante+el+uso+de+temporizadores+se+ha+conseguido+garantizar+la+sincron%C3%ADa+en+la+ejecuci%C3%B3n+de+los+algoritmos+de+control+desarrollados+externamente+en+Matlab-Simulink.++Abstract%3A+Microprogramming%2C+in+contrast+with+general+purpose+programming%2C+uses+low-level+instructions+for+the+control+of+electronic+devices.+In+this+Project%2C+I+developed%2C+the+control+architecture+of+the+robotic+exoskeleton+CPWalker%2C+based+on+the+Texas+Instruments+development+card+TMS320F28379D.+The+CPWalker+platform+was+designed+for+the+rehabilitation+of+children+with+cerebral+palsy%2C+by+the+Neuronal+and+Cognitive+Engineering+Group+which+belongs+to+the+Center+for+Automation+and+Robotics+CSIC.+The+control+architecture+of+this+robotic+device+is+currently+implemented+through+the+Real-Time+Workshop+toolbox+of+Matlab-Simulink.+This+control+architecture+is+reponsible+for+the+generation+of+the+legs+trajectories%2C+by+controlling+the+actuators+of+the+platform%2C+necessary+for+the+gait+training+of+these+children.+The+purpose+of+this+project+is+to+directly+manage+the+peripherals+of+the+microcontroller+directly%2C+using+C+code%2C+and+to+establish+an+environment+for+the+programming+of+the+control+routines.+This+makes+it+possible+to+configure+the+peripherals+of+the+microcontroller+in+a+more+precise+and+versatile+way%2C+without+the+restrictions+imposed+by+Matlab-Simulink.+The+programming+was+done+with+the+Code+Composer+Studio+tool%2C+which+includes+the+necessary+libraries+for+the+control+of+the+microcontroller.+The+main+communication+buses+that+have+been+implemented+are+the+CAN+bus+and+the+SPI+bus%2C+for+the+reception+of+the+robot+sensors%2C+and+the+management+of+the+actuators+respectively.+In+addition%2C+by+using+timers+it+has+been+possible+to+guarantee+the+synchronization+with+the+execution+of+control+algorithms+developed+externally+in+Matlab-Simulink.&rft.publisher=E.T.S.I+de+Sistemas+Inform%C3%83%C2%A1ticos+(UPM)&rft.rights=https%3A%2F%2Fcreativecommons.org%2Flicenses%2Fby-nc-nd%2F3.0%2Fes%2F&rft.date=2019-07&rft.type=info%3Aeu-repo%2Fsemantics%2FbachelorThesis&rft.type=Final+Project&rft.type=PeerReviewed&rft.format=application%2Fpdf&rft.language=spa&rft.rights=info%3Aeu-repo%2Fsemantics%2FopenAccess&rft.identifier=https%3A%2F%2Foa.upm.es%2F56387%2F