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MOTION CONTROL SYSTEM FOR MANIPULATORS AND ROBOTS
Author: Šola Jakub
The aim of this bachelor thesis is a portation of multi-axes control system under the real-time operating system RTEMS. At the beginning of my thesis there are some possibilities of the portation on examples of simply programmes. Next there is a general description of multi-axes control system that is based on PXMC system designed for school robots BlueBot. The thesis continues with a description of portation on RTEMS operating system itself. At the end of thesis a direct and inverse kinematics tasks for BlueBot robots were designed for purposes of testing of the functionality of the system.
- Štola Jakub, mailto:stolaj1@fel.cvut.cz
- Ing. Pavel Píša, mailto:pisa@control.felk.cvut.cz, web:http://cmp.felk.cvut.cz/~pisa
