SHARED MEMORY IN RTAI SIMULINK FOR KERNEL AND USER-SPACE COMMUNICATION AT THE EXAMPLE OF THE SDH-2 - QRtaiLab For SDH-2 Matrix Visualization

Thomas Haase, Heinz Wörn, Holger Nahrstaedt

Abstract

At the Institute for Process Control and Robotics reactive grasping skills are developed to enhance the Multifingered SCHUNK Dextrous Hand 2 (SDH2) in order to fulfill industrial needs. Therefore, RTAI Linux and Matlab - Simulink RTW are used as application development system (RTAI, 2010),(Mathworks, 2010). The exchange of data between the Multi-fingered hand and the computer system is possible by means of a C++ library. By reason that this SDH2 C++ library could not be used in Real-Time kernel programs this paper presents an approach of how to combine Real-Time Simulink models (RTAI) with user-space tasks. Therefore a shared memory based interface within Simulink S-Functions is established. The RTAI Target Language Compiler remains unaffected. The designed interface is described in detail. It represents a contribution to the further development of RTAI. In addition a possibility of how to debug and visualize tactile sensor matrices with QRtaiLab is presented.

References

  1. D. M. Dawson, W. D. (2002). Matlab-based control systems laboratory experience for undergraduate students: toward standardization and shared resources.
  2. Kiszka, J. (2004). Real-time ethernet on top of rtai. Technical report, University of Hannover, ISE - Real Time Systems Group, Germany. www.rts.uni-hannover.de.
Download


Paper Citation


in Harvard Style

Haase T., Wörn H. and Nahrstaedt H. (2010). SHARED MEMORY IN RTAI SIMULINK FOR KERNEL AND USER-SPACE COMMUNICATION AT THE EXAMPLE OF THE SDH-2 - QRtaiLab For SDH-2 Matrix Visualization . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-989-8425-02-7, pages 160-165. DOI: 10.5220/0002875401600165


in Bibtex Style

@conference{icinco10,
author={Thomas Haase and Heinz Wörn and Holger Nahrstaedt},
title={SHARED MEMORY IN RTAI SIMULINK FOR KERNEL AND USER-SPACE COMMUNICATION AT THE EXAMPLE OF THE SDH-2 - QRtaiLab For SDH-2 Matrix Visualization},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2010},
pages={160-165},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002875401600165},
isbn={978-989-8425-02-7},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - SHARED MEMORY IN RTAI SIMULINK FOR KERNEL AND USER-SPACE COMMUNICATION AT THE EXAMPLE OF THE SDH-2 - QRtaiLab For SDH-2 Matrix Visualization
SN - 978-989-8425-02-7
AU - Haase T.
AU - Wörn H.
AU - Nahrstaedt H.
PY - 2010
SP - 160
EP - 165
DO - 10.5220/0002875401600165