IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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Implementation and Performance Evaluation of Preempt-RT Based Multi-core Motion Controller for Industrial Robot

산업용 로봇 제어를 위한 Preempt-RT 기반 멀티코어 모션 제어기의 구현 및 성능 평가

  • Received : 2016.09.26
  • Accepted : 2016.11.15
  • Published : 2017.02.28
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Abstract

Recently, with the ever-increasing complexity of industrial robot systems, it has been greatly attention to adopt a multi-core based motion controller with high cost-performance ratio. In this paper, we propose a software architecture that aims to utilize the computing power of multi-core processors. The key concept of our architecture is to use shared memory for the interplay between threads running on separate processor cores. And then, we have integrated our proposed architecture with an industrial standard compliant IDE for automatic code generation of motion runtime. For the performance evaluation, we constructed a test-bed consisting of a motion controller with Preempt-RT Linux based dual-core industrial PC and a 3-axis industrial robot platform. The experimental results show that the actuation time difference between axes is 10 ns in average and bounded up to 689 ns under $1000{\mu}s$ control period, which can come up with real-time performance for industrial robot.

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References

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