Bp 21 en
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.