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6 Axis Manipulator Control

By Michal Semrád


This master thesis discusses about designing and realization of a control system for a 6-axis robotic arm. The controlling system consist in a microcontroller LPC1756 with its firmware implemented under the Real-time operating system FreeRTOS and GUI application, running on a PC. The Microcontroller communicates with the PC through a serial line via SLIP protocol. Theoretically, it will deal with an explanation of the important terms, and describes the used robotic arm and its controlling unit. The practical part describes kinematics problems solving, firmware’s realization and GUI application

Topics: Robotic arm; FreeRTOS; CooCox; GUI; Firmware; Servomotor; Inverzní kinematická úloha; ARM Cortex-M3; Real-time operating system; Robotický manipulátor; Inverse kinematics; Operační systém reálného času; LPC1756
Publisher: Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií
Year: 2014
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