Research on Real-Time Performance of the Distributed Control System Based on RTLinux

Peng Zhang; Qin Guo; Bin Wang

doi:10.4028/www.scientific.net/AMR.945-949.1372

Paper Titles

Analysis of Typical Phenomenon in Quadruped Robot Engine PID Control
p.1353

Kinematics Analysis of Virtual Prototype System on Multiple Redundant Bionic Arm
p.1360

Control and Design of Intelligent Robot Arm
p.1364

Iterative Learning Impedance Control for the Robot
p.1368

Research on Real-Time Performance of the Distributed Control System Based on RTLinux
p.1372

Dynamics and Structural Analysis for Arm Equipped on Intelligent Wheelchair
p.1376

Development on Experimental System of Kinematic Performance of 3-TPS Hybrid Robot
p.1380

Dynamic Parameter Identification of the Base of a Space Robot when Considering the Gravity Gradient
p.1384

Optimal Camera Placement of Large Scale Volume Localization System for Mobile Robot
p.1390

HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 945-949Research on Real-Time Performance of the...

Research on Real-Time Performance of the Distributed Control System Based on RTLinux

Abstract:

Through the analysis of RTLinux source code and real-time performance of various testing experiment on the RTLinux, and its application in a distributed robot control system using CAN bus, realize the real-time control of robot joints. Write the code of real-time module on RTLinux, analyzing the real-time performance using related kernel time testing function. Under Linux using QT write user interface for robot control, running on the Linux user space. The interface program and the real-time program communicate via RT-FIFO. Specify the location of each robot joint in the interface program, compared with the feedback from the actual joint position trajectory, evaluate the control effect of real-time systems.

You might also be interested in these eBooks

Advances in Manufacturing Science and Engineering V

View Preview

Info:

Periodical:

Advanced Materials Research (Volumes 945-949)

Pages:

1372-1375

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.945-949.1372

Citation:

Cite this paper

Online since:

June 2014

Authors:

Peng Zhang, Qin Guo, Bin Wang

Keywords:

Control System, Modularization, Robot, RTLinux

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] J. Portillo, E. Estevez, I. Cabanes: IEEE Industrial Electronics, IECON 2006-32nd Annual Conference (2006), P. 4644.

DOI: 10.1109/iecon.2006.348148

Google Scholar

[2] FSM Labs, Geting Started with RTLinux. http: /www. fsmlabs. com.

Google Scholar

[3] F. Kanehiro, Y. Ishiwata, H. Saito, K. Akachi, G. Miyamori, T. Isozumi, K. Kaneko, H. Hirukawa: Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference (2006) P. 2471.

DOI: 10.1109/iros.2006.281691

Google Scholar