Řízení robotické ruky pomocí vícejádrového hybridního procesoru

Abstract

This thesis deals with an improvement of a robotic arm control system. In order to accomplish predefined goals, several modifications have been made. The original development board has been replaced by the more compact UDOO Neo board while the software has been divided into two parts running on different cores. The graphical user interface is now served by the Linux operating system running on a general purpose ARM Cortex A9 core whilst the critical tasks are managed by the FreeRTOS on a specialized ARM Cortex M4 processing unit. The need of interprocessor communication is fulfilled by the use of RPMsg protocol. As a result, a more compact and robust robotic arm controller solution has been created.