Abstract
Controlling accurately the position and velocity of robots in a given time is an important requirement in the industry. The open-source real-time operating systems not only have more advantages than the normal operating systems in both economy and flexibility but also meet the needs. This paper concentrates on building algorithms for controlling the robot trajectory in time using a modern real-time operating system called Linux-Xenomai. Firstly, the paper analyzes several advantages of the real-time operating system Linux-Xenomai comparing general operating systems and other real-time operating systems. Secondly, a real-time controller of a 5 degree-of-freedom (DOF) robot is built based on the real-time operating system Linux-Xenomai. After that, the paper proposes algorithms to test the ability of working in time of the robot. Finally, the real experiments are done to verify the proposed algorithms.
Highlights
Industrial robots nowadays are used popularly in the manufacturing and the industry
The modern works suggest that the robots can work in the complicated systems that need the external information collected from the working environment of the robots
It is necessary to process the signals from the external sensors before sending the useful information to the controllers of the robots
Summary
Industrial robots nowadays are used popularly in the manufacturing and the industry. They normally are controlled by the distributed controllers to get the accuracy both in the position and the time. The paper compares the real-time operating system Linux-Xenomai with the commercial controlling robot softwares. From that the paper shows the advantages of using the real-time operating system Linux-Xenomai in controlling robots. It is said that the most basic differences of the real-time operating systems with the non-real-time operating systems are the strict requirement of the time, the access of resources, and the importance of scheduling In this part, the paper analyzes the features, the advantages and the disadvantages of the commercial controlling robot softwares. Based on the monitoring criteria, a comparison about the advantages and the disadvantages between the ABB’s controlling robot software and the real-time Linux-Xenomai is shown in the Table 1.
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