Real-time scheduler for Middleware of Industrial Robot

摘要

This paper proposes a real-time scheduling algorithm that supports the periodic and sporadic execution with event handling while retaining strict multiple periods and managing non-real-time modules. The proposed scheduling algorithm controls modules of both the thread type (or .so type) and the process type (or .exe type). This paper provides the program structures for modules of thread type and process type that are performed in periodic and sporadic executions. For sporadic executions, the events occurred in sporadic modules are checked and the corresponding modules are invoked. The proposed scheduler is implemented using the Xenomai real-time operating system and Linux. The proposed scheduling algorithm is validated through several examples and by comparisons with the scheduler of Xenomai itself.