REAL TIME ROBOT CONTROL FRAMEWORK CAPABLE OF CONTROLLING A ROBOT DEVICE IN REAL TIME ON A COMMERCIAL RTOS

摘要

PURPOSE: A real time robot control framework is provided to easily develop/test robot control algorithm by controlling a real robot in real time based on the integration of a commercial RTOS(Real-Time OS) with a software framework.;CONSTITUTION: An RTOS device plug-in(414) is paired with a Windows device plug-in(406) and connected with a robot device. A shared memory(420) inputs and outputs data of the RTOS device plug-in and the Windows device plug-in. An RTOS process(412) controls the RTOS device plug-in, the shared memory, and a robot system registered in an RTOS timer using the RTOS timer provided from a commercial RTOS in order to apply robot control algorithm to the robot device in real time.;COPYRIGHT KIPO 2013;[Reference numerals] (402) Window process; (404) Control plug-in; (406) Window device plug-in; (412) RTSS process; (414) RTSS device plug-in; (416) Device driver; (418) Robot device; (420) Shared memory