Deployment of model based robotic control algorithms, designed using Matlab/Simulink, in the form of OROCOS components operating under Linux Xenomai

The article focuses on deployment of model based control algorithms which have passed the stage of simulation analysis in Simulink. The target software platform is OROCOS framework within Linux Xenomai - a real-time operational system. First, the algorithm of transforming of an automatically generated code from Simulink scheme into an OROCOS component is presented. Next, the proposed procedure is discussed and evaluated from the perspective of the control engineer´s needs.