Control system design for robotic manipulator

Main goal of this thesis is to design and realize software for controlling planar robotic manipulator “Mini-swing”. At the beginning, thesis describes general issues of this problem. Research part deals with dividing manipulators in groups by their kinematic configuration. Next part merely outlines usage of National Instruments module “Robotics”. “Mini-swing” manipulator and its kinematic are described in the following part. Design and realization of software for controlling Mini-swing’s ending effector are parsed in next part and at the very end of thesis you can find summarization of accomplished results