Linux Symposium, July 13th - 17th, 2009, Montreal, Canada
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July 13-17, 2009

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Real-Time Performance Analysis in Linux-Based Robotic Systems

Hobin Yoon (hobinyoon@gmail.com)

Mobile or humanoid robots collect environmental data and reflect back as robotic behaviors via various sensors and actuators. It is crucial this occurs within a specified time. Although real-time flavored Linux has been used to control robot arms and legs for quite a while, it has not been reported much whether the current real-time features in Linux could still meet this requirement for a much more complicated system - a humanoid with about 60 servo motors and sensors with multiple algorithms such as recognition, deci-sion, and navigation running simultaneously. In this paper, in order to meet such requirement, adopting EtherCAT technology is in-troduced and its Linux implementation is illustrated. In addition, results of real-time experiments and timing analysis on a multi-core processor are presented showing Linux is a viable solution to be successfully deployed in various robotic systems.



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