Robot Software Platform
PLEM
ROS 2-Based AI Robot Control Platform
Everything the industry needs, built on top of ROS 2's powerful ecosystem. An all-in-one robot platform integrating real-time control, AI libraries, and Docker deployment
Drivers, RTOS, Communication — never build from scratch again.
From motor control to AI pipelines, PLEM handles the control infrastructure. You focus on the robot application.
Measured Performance
Verified on real hardware — based on KOTCA certified data
Robot Software Platform
PLEM
Low-level control turns AI intent into precise, jitter-free motion. Hover a layer to explore.
Robot Software Platform
PLEM
Low-level control turns AI intent into precise, jitter-free motion. Hover a layer to explore.
PLEM Software Stack
Your AI decides what to do; WIM's low-level control turns it into precise real-world motion.
Upper AI: what to do
VLA / Motion Planning
Sensors
Sensor Input (state observation)
SoC (Jetson Orin AGX)
Middleware— ROS 2 / Communication Layer (EtherCAT, CAN)Standard
WIM Low-Level Control
WIM's own real-time control engine
Joint states, sensor feedback
Torque / Velocity / Position commands
Gravity·Coriolis·friction·inertia compensation
1kHz real-time torque control
AI decides. WIM moves.
WIM turns the AI's goal into jitter-free motion, compensating gravity, friction, and disturbance every 1 ms. No control team required.
Deterministic RT KernelStandard
SoC (Jetson Orin AGX) — Everything runs inside.
Motor Commands via EtherCAT / CAN
Sensors
SoC (Jetson Orin AGX)
Middleware— ROS 2 / Communication Layer (EtherCAT, CAN)Standard
WIM Low-Level Control
WIM's own real-time control engine
Joint states, sensor feedback
Torque / Velocity / Position commands
Gravity·Coriolis·friction·inertia compensation
1kHz real-time torque control
AI decides. WIM moves.
WIM turns the AI's goal into jitter-free motion, compensating gravity, friction, and disturbance every 1 ms. No control team required.
Deterministic RT KernelStandard
SoC (Jetson Orin AGX) — Everything runs inside.
What makes WIM different
The parts are standard. What differs is what you integrate on top — and how.
No modeling, automatic tuning
Precise robot control normally takes an expert to model the robot's dynamics and tune it by hand. WIM's ADRC catches gravity, friction, and inertia on its own in real time, so it moves precisely and jitter-free with no controls specialist. No re-tuning when the payload or the robot changes.
From high-level AI down to torque control
Automatic by default, but you can take direct control when you want it. WIM opens an interface down to the torque, velocity, and position level. Implement your own control algorithms such as PID and ADRC, and tune them on the 1 kHz real-time loop (C++ and Python examples included). Core internals stay protected while you get the control depth you need.
Any robot
Not locked to any brand. Any ROS 2 robot or EtherCAT·CAN (CiA-402) motor connects through the same interface. Switch robots without rebuilding your setup from scratch.
Core Technologies in PLEM
All technologies integrated into a single software stack
WIM Real-Time Kernel
PREEMPT_RT kernel optimized for Jetson Orin. CPU isolation ensures control loop determinism.
Jitter 318µs → 15µs (21× reduction)Read more →WIM Precision Calibration
Precise robot coordinate calibration via Touch Probe + Kabsch algorithm.
Sub-0.5mm precisionRead more →Ultra-Low Latency RT Monitoring
Lock-free data transfer between RT control loop and monitoring threads.
0.3µs avg · 0.7µs P99Read more →Frequently Asked Questions
What is PLEM's relationship with ROS 2?+
PLEM is a higher-level platform built on top of ROS 2. It leverages the ROS 2 ecosystem while providing additional industrial real-time control, AI libraries, and Docker deployment.
How is the real-time kernel applied?+
PLEM provides a PREEMPT_RT kernel for NVIDIA Jetson Orin. Combined with CPU isolation, it reduces jitter by 21× compared to the standard kernel (318µs → 15µs). Based on KOTCA KST-25-236 certified data.
Can I use PLEM without W-RC?+
PLEM is optimized for W-RC, but it can be used in any ROS 2 compatible environment. See PLEM Docs for details.
