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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)


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.


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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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Correspondence to Xin-Jun Liu .

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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.

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  • Print ISBN: 978-3-030-89097-1

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