Standardizing I/O for mechatronic systems (SIOMS) using real time UNIX device drivers

Describes a solution to controlling and communicating with an automated workcell based on a customized, commercially available real-time operating system. Two workcells, one for assembly and the other for machining, have been successfully controlled and integrated using much of the same software, despite different applications, actuators, sensors and computer hardware. Portability to different computer hardware arises from support by the operating system vendor, while application portability arises from the development of standardized input and output with the mechatronic devices (SIOMS) described in this paper. The real-time UNIX device drivers used to create the standard encapsulate the complexities of I/O and present users with a simple interface which allows concurrent access to the devices from multiple processes. Recent advances in personal computer technology make this a cost-effective solution