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International Conference on Intelligent Robotics and Applications

ICIRA 2021: Intelligent Robotics and Applications pp 596–606Cite as

Real-Time Design Based on PREEMPT_RT and Timing Analysis of Collaborative Robot Control System

Part of the Lecture Notes in Computer Science book series (LNAI,volume 13014)

Abstract

The design of the collaborative robot control system is restricted by the following key factors: real-time system, field bus, robot frame and human-computer interaction module. Academia and industry have an urgent need for high-quality, high-stability, distributed and easy-to-operate control systems with the development of the robotics industry. Robot systems architecture based on ROS and ROS2 have attracted more and more attention due to the flexibility, openness, modularity, scalability and friendliness. The main contribution of this article is to partially construct the real-time architecture of the collaborative robot control system. In addition, the timing jitter of the system, EtherCAT master station and ROS under different frequencies and loads is analyzed. First, a Linux kernel based on PREEMPT_RT patch is constructed, the basic architecture is described, and the timing performance of the robot system is improved through the application of high-precision timers, priority assignment, scheduling mode, and energy consumption management. Furthermore, the timing jitter performance of the operating system is analyzed. The maximum jitter of the system and the EtherCAT master station is about 10 us, and the average jitter is 1 us. Finally, the timing jitter of the built-in timing callbacks in ROS and ROS2 is evaluated. The design of the real-time system and performance analysis provide critical support for the design of the robot controller.

Keywords

  • PREEMPT_RT
  • Timing Jitter
  • ROS
  • ROS2
  • EtherCAT Master

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Acknowledgement

This work is supported by the National Key Research and Development Program of China (Grant No. 2019YFB130185), the Key Research and Development Program of Shandong Province (Grant No. 2019JZZY010432), and a grant from the Institute for Guo Qiang, Tsinghua University (Grant No. 2019GQG0007).

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Authors and Affiliations

  1. The State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Yanlei Ye, Peng Li, Zihao Li, Fugui Xie & Xin-Jun Liu

  2. Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipments and Control, Tsinghua University, Beijing, 100084, China

    Fugui Xie & Xin-Jun Liu

  3. Yantai Tsingke+ Robot Joint Research Institute Co., Ltd., Yantai, 264006, China

    Jianhui Liu

Authors
  1. Yanlei Ye
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  2. Peng Li
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  3. Zihao Li
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  4. Fugui Xie
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  5. Xin-Jun Liu
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  6. Jianhui Liu
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Corresponding author

Correspondence to Xin-Jun Liu .

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Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Prof. Xin-Jun Liu

  2. Tsinghua University, Beijing, China

    Zhenguo Nie

  3. Beihang University, Beijing, China

    Prof. Jingjun Yu

  4. Tsinghua University, Beijing, China

    Fugui Xie

  5. Shandong University, Shandong, China

    Rui Song

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Ye, Y., Li, P., Li, Z., Xie, F., Liu, XJ., Liu, J. (2021). Real-Time Design Based on PREEMPT_RT and Timing Analysis of Collaborative Robot Control System. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13014. Springer, Cham. https://doi.org/10.1007/978-3-030-89098-8_56

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  • DOI: https://doi.org/10.1007/978-3-030-89098-8_56

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89097-1

  • Online ISBN: 978-3-030-89098-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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