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Title:BILATERALNA ROBOTSKA APLIKACIJA NA ARM VGRAJENEM SISTEMU Z RTAI LINUX-OM
Authors:Špindler, Matej (Author)
Hace, Aleš (Mentor) More about this mentor... New window
Terbuc, Martin (Co-mentor)
Files:.pdf UNI_Spindler_Matej_2009.pdf (1,92 MB)
 
Language:Slovenian
Work type:Undergraduate thesis (m5)
Organization:FERI - Faculty of Electrical Engineering and Computer Science
Abstract:V diplomski nalogi je predstavljena uporaba arhitekture ARM za izvedbo bilateralne robotske aplikacije. Uporabljen je splošno-namenski operacijski sistem Linux. Prikazan je postopek navzkrižnega prevajanja za ARM ciljne sisteme. Za doseganje realno-časovnih odzivov je uporabljeno orodje RTAI. Izdelana aplikacije je RTAI Linux modul, ki zahteva implementacijo kontrolnih algoritmov v celoštevilski aritmetiki. Zasnova aplikacije je narejena z UML modeli.
Keywords:robotika, Linux, RTAI, ARM, UML, programsko inženirstvo, celoštevilska aritmetika
Year of publishing:2009
Publisher:[M. Špindler]
Source:Maribor
UDC:007.52:004.45(043.2)
URN:URN:SI:UM:DK:IK15KFYG
COBISS_ID:13384982 Link is opened in a new window
Views:1827
Downloads:110
Metadata:XML RDF-CHPDL DC-XML DC-RDF
Categories:KTFMB - FERI
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Secondary language

Language:English
Title:BILATERAL ROBOTIC APPLICATION ON ARM EMBEDDED SYSTEM WITH RTAI LINUX
Abstract:Usage of ARM architecture for bilateral robotic application is described in the diploma work. General purpose operating system Linux is used. Presented is cross-compiling method for ARM embeded systems. To achieve real--time responses RTAI is used. Designed application is RTAI Linux module, that requires the implementation of control algorithms in fix point arithmetic. The design of the application is made with the UML models.
Keywords:robotics, Linux, RTAI, ARM, UML, program engenering, fixedpoint arithmetics


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