Research And Implementation Of Robot Real-Time Control Platform

Because robots have a variety of capabilities,such as accuracy,efficiency,and response to complex environments,they are playing an increasingly important role in industrial production and social life.With the technological innovation,the performance requirements for robots in practical applications are also increasing.Among them,human-computer interaction in real time has always been the focus of engineers.Because the robot project of the previous project team is based on the development environment of the QNX real-time system,in the process of R&D for small and medium-sized users,we hope that under the premise of reducing product costs,the reliability of product quality will not be affected.Therefore,the QNX system-based robot development environment was moved to a Linux system,and the Linux system was improved to meet the real-time requirements of the robot control platform.Based on the Linux platform and ROS framework,the hard real-time nature of RTAI kernel is combined with image processing and applied to human-computer interaction.In industrial control,real-time control of the robot is achieved.Given the corresponding algorithm,and through programming.The specific work includes porting the RTAI kernel to a Linux system and building a RTAI-Linux dual-core hard real-time platform.Based on this,a time slice advance borrowing algorithm is used to improve the scheduling strategy of the EDF dynamic scheduling algorithm.Using the camera to obtain the image of the object from multiple angles,through the image processing,the shape and motion state of the object are analyzed.The CPU calculates the appropriate grab time node and the system performs the grab operation.Finally,the real-time and reliability of the robot real-time control platform based on RTAI-Linux system is compared and verified through two different test methods.This thesis adopts Linux4.2.0 and RTAI3.9 to form a dual-core solution to improve the real-time performance of Linux system.The improved system is applied to the real-time crawling of objects and the tasks are completed within the specified scope.The real-time performance of the improved RTAI-Linux system is verified to meet the real-time requirements of the robot control platform.