2P1-A18 プロセッサアフィニティを考慮したRealtime Linuxによるロボットの実時間制御

概要

論文の詳細を見る
We address the real-time robot control using Linux. The RT-Preempt Patch [1][2] renders Linux with a fully preemptible kernel. We call the system Realtime Linux. The advantages of Realtime Linux is that we can use most of the Linux libraries and create a real-time program API based on POSIX. The aim of this paper is confirming multithread real-time robot control using a multicore processor, considering processor affinity, i.e. each task is allocated to kin processor in preference to others at allocation time. More specifically, we consider an eye-in-hand robot system comprising a PA-10 robot arm and a USB camera under real-time control with a multicore processor by efficiently assigning the processor affinity. Results are demonstrated with data from a face tracking experiment.