Performance analysis of robotic arm manipulators control system under multitasking environment

Moshi, A. A.; Cynthia, S. S.; Islam, E.; Rahman, Rifat; Azad, AKM Abdul Malek

Date

2011

Publisher

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

Collections

Conference Paper