Paper Info
Title
Real-Time Design Based on PREEMPT_RT and Timing Analysis of Collaborative Robot Control System
Abstract
The design of the collaborative robot control system is restricted by the following key factors: real-time system, field bus, robot frame and human-computer interaction module. Academia and industry have an urgent need for high-quality, high-stability, distributed and easy-to-operate control systems with the development of the robotics industry. Robot systems architecture based on ROS and ROS2 have attracted more and more attention due to the flexibility, openness, modularity, scalability and friendliness. The main contribution of this article is to partially construct the real-time architecture of the collaborative robot control system. In addition, the timing jitter of the system, EtherCAT master station and ROS under different frequencies and loads is analyzed. First, a Linux kernel based on PREEMPT_RT patch is constructed, the basic architecture is described, and the timing performance of the robot system is improved through the application of high-precision timers, priority assignment, scheduling mode, and energy consumption management. Furthermore, the timing jitter performance of the operating system is analyzed. The maximum jitter of the system and the EtherCAT master station is about 10 us, and the average jitter is 1 us. Finally, the timing jitter of the built-in timing callbacks in ROS and ROS2 is evaluated. The design of the real-time system and performance analysis provide critical support for the design of the robot controller.
Year
DOI
Venue
2021
10.1007/978-3-030-89098-8_56
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2021, PT II
Keywords
DocType
Volume
PREEMPT_RT, Timing Jitter, ROS, ROS2, EtherCAT Master
Conference
13014
ISSN
Citations 
PageRank 
0302-9743
0
0.34
References 
Authors
0
6
Name
Order
Citations
PageRank
Yanlei Ye100.68
Peng Li227569.71
Zihao Li300.68
Fugui Xie41411.33
Xin-Jun Liu515532.61
Jianhui Liu600.34