Title :
A hybrid operating system for modular dual-arm manipulator
Author :
Qinpeng Dong ; Zhen Huang ; Hongxing Wei
Author_Institution :
Sch. of Mech. Eng. & Autom., Beihang Univ., Beijing, China
Abstract :
A hybrid operating system running on a dual-core processor is introduced, and it incorporates the advantages of both real-time system and non-real-time system by establishing a mechanism of routing and communication method. After testing on a modular dual-arm manipulator, it has been proved that the system is robust and feasible. Firstly, by performing the kinematics analysis on a 3D demonstration platform, the path planning and online teaching are realized. Then, after testing the response time of the system, real-time motion control of the manipulator is fulfilled to perform coordinated task. The main contribution of the present work lie in developing a hybrid operating system for modular dual-arm manipulator, which has abundant software packages and can perform real-time tasks.
Keywords :
control engineering computing; manipulator kinematics; mobile robots; motion control; operating systems (computers); path planning; real-time systems; 3D demonstration platform; communication method; coordinated task; dual-core processor; hybrid operating system; kinematics analysis; modular dual-arm manipulator; nonreal-time system; online teaching; path planning; real-time motion control; real-time system; routing mechanism; software packages; Linux; Manipulators; Operating systems; Real-time systems; Robot kinematics; Three-dimensional displays;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
DOI :
10.1109/ROBIO.2014.7090543
