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Embedded Real-Time Linux for Cable Robot Control

Published

Author(s)

Frederick M. Proctor, William P. Shackleford

Abstract

Linux is a version of the Unix operating system distributed according to the open source model. Programmers are free to adapt the source code for their purposes, but are required to make their modifications or enhancements available as open source software as well. This model has fostered the widespread adoption of Linux for typical Unix server and workstation roles, and also in more arcane applications such as embedded or real-time computing. Embedded applications typically run in small physical and computing footprints, usually without fragile peripherals like hard disk drives. Special configurations are required to support these limited environments. Real-time applications require guarantees that tasks will execute within their deadlines, something not possible in general with the normal Linux scheduler. Real-time extensions to Linux enable deterministic scheduling, at task periods at tens of microseconds. This paper describes embedded and real-time Linux, and an application for distributed control of a Stewart Platform cable robot. Special Linux configuration requirements are detailed, and the architecture for teleoperated control of the cable robot is presented, with emphasis on the resolved-rate control of the suspended platform.
Proceedings Title
Proceedings of DETC¿02 ASME 2002 Design Engineering Technical Conferences and The Computers and Information in Engineering Conference
Conference Dates
September 29-October 2, 2002
Conference Location
Montreal, 1, CA
Conference Title
ASME 2002 Design Engineering Technical Conferences and The Computers and Information in Engineering Conference

Keywords

cable robotics, embedded systems, Linux, Real-time software, robot control, teleoperation

Citation

Proctor, F. and Shackleford, W. (2002), Embedded Real-Time Linux for Cable Robot Control, Proceedings of DETC¿02 ASME 2002 Design Engineering Technical Conferences and The Computers and Information in Engineering Conference, Montreal, 1, CA, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=821818 (Accessed June 6, 2023)
Created October 1, 2002, Updated October 12, 2021