1P1-E16 Linuxにおけるリアルタイムプリエンプションパッチに基づいたロボットのリアルタイム制御(RTミドルウェアとオープンシステム)

概要

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The Linux real-time preempt kernel patch, developed by Ingo Molnar, has recently drawn attention as an alternative to other dedicated real-time OSs. The patch implements real-time behavior by allowing nearly all of the kernel to be preempted, and by usage of high resolution timers. We describe our experimental environment for real-time control of a PA-10 robot arm and present experimental data for real-time capability of the real-time preempt kernel patch based controller.
一般社団法人日本機械学会の論文
2008-06-06