Performance analysis of robotic arm manipulators control system under multitasking environment

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Date
2011
Publisher
© 2011 Institute of Electrical and Electronics Engineers Inc.
Author
Moshi, A. A.
Cynthia, S. S.
Islam, E.
Rahman, Rifat
Azad, AKM Abdul Malek
Metadata
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URI
http://hdl.handle.net/10361/7253
Citation
Moshi, A. A., Cynthia, S. S., Islam, E., Rahman, R., & Azad, A. (2011). Performance analysis of robotic arm manipulators control system under multitasking environment. Paper presented at the 2011 IEEE 18th International Conference on Industrial Engineering and Engineering Management, IE and EM 2011, (PART 1) 613-617. doi:10.1109/IEEM.2011.6035233
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
Control system; DAq card; Jitter; Multitasking; RT-Linux
 
Description
This conference paper was presented in the 2011 IEEE 18th International Conference on Industrial Engineering and Engineering Management, IE and EM 2011; Changchun; China; 3 September 2011 through 5 September 2011 [© 2011 Institute of Electrical and Electronics Engineers Inc.] The conference paper's definite version is available at: http://doi.org/10.1109/ICIEEM.2011.6035233
Publisher Link
http://ieeexplore.ieee.org/document/6035233/
DOI
http://doi.org/10.1109/ICIEEM.2011.6035233
Department
Department of Electrical and Electronic Engineering, BRAC University
Type
Conference paper
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