Řídicí systémy servisních robotů

Abstract

The thesis provides an overview in the field of hardware and low-level software (firmware) for control systems applicable in service robotics. Further the thesis offers classification of these systems into few categories by complexity of the used processor and the domain of application.On concrete examples of control system realised by the author the thesis mentions some possible problems and describes their solution. Solved is for example the problem of connecting new control system to the original locomotion subsystem, which is typically a part of another commercial product (wheelchair, tracked loader and transporter). Another topic elaborated in the thesis is wireless transmission of control data and video signal. The last chapter of the work deals with specific problems related to operation in environment with high explosion risk. Results of the research in this area are demonstrated on a concrete realised control system for an existing mining machine.