Řízení robotické ruky pomocí Freescale i.MX6SX

Abstract

This paper addresses the transfer of the project from the robotic arm architecture homogeneous to heterogeneous architecture and implementation feedback on the robotic arm. It deals with interprocessor communication and assembling its own operating system for embedded devices based on processors Freescale. Using a set of packages based on the open source project Yocto, I will create my own version of the Linux operating system and SDK derived therefrom. I will create the Robotic Arm application using the SDK and adjust it so it can work with the feedback. Feedback is deployed in a smaller core processor which runs the FreeRTOS operating system on. The result is a programmer's guide for easy repeat assembly of all components and functional solution where after the restart, the application knows exactly where the hand is. A reader of work gets a basic overview of problems of embdeded devices and interprocessor communications.