Title :
Performance analysis of robotic arm manipulators control system under multitasking environment
Author :
Moshi, A.A. ; Cynthia, S.S. ; Islam, E. ; Rahman, R. ; Azad, A.
Author_Institution :
Dept. of Electr. & Electron. Eng., BRAC Univ., Dhaka, Bangladesh
Abstract :
To observe the performance of PC based robot manipulator under general purpose (Windows), Soft (Linux) and Hard (RT Linux) Real Time operating systems (OS). The same open loop system is observed in different operating system under multitasking environment. The Data Acquisition (DAq, PCL-812PG) card is used as a hardware interface. This experiment shows that the real time error (Jitter) is minimum in RT-Linux operating system than any other Soft Real-Time operating systems. Delay analysis of this supervisory system is calculated in RT-Linux operating system.
Keywords :
Linux; control engineering computing; data acquisition; delays; manipulators; open loop systems; DAq card; Jitter; PC based robot manipulator; PCL-812PG card; RT Linux; Windows; data acquisition card; delay analysis; general purpose; hard real time operating systems; hardware interface; multitasking environment; open loop system; performance analysis; real time error; robotic arm manipulators control system; soft real time operating systems; supervisory system; DC motors; Linux; Manipulators; Multitasking; Operating systems; Real time systems; Control System; DAq card; Jitter; RT-Linux; multitasking;
Conference_Titel :
Industrial Engineering and Engineering Management (IE&EM), 2011 IEEE 18Th International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-61284-446-6
DOI :
10.1109/ICIEEM.2011.6035233
