Stephane Pierre Bordas wrote:
> Dear all of you !! :)
>
>
> Our problem is the following,
> Our command (robot command) is running under DOS. Using this command, we
> are
> able to compute the trajectories for our robot as precise as one point
> every 10 milliseconds with linear interpolation each millisecond.
> We want to evolute towards a more efficient control. We thought of
> Windows,
> but it seems to be difficult to get a "true industrial real time" and it
> was not recommended to us. For budjet reasons, we would like to keep the
> system running on PCs and are looking for ideas to improve the
> quality of trajectories. Linux could be a possibility.
> Do you think it is possible to use Windows for such applications ?
In principle I think it is not possible (or at least not recommendable) to use
windows for anything. Anyway, for the sake of completeness, it must be said that
radisys claims its 'intime' to offer real time performance under windows. But it
is expensive and not open.Another possibility is of course to use an intelligent
board (there are very many) for all the real time stuff, and windows for the
front-end.
> Do you think RTL could be a good alternative ?
YES. I'm using it (Mantegazza variant) for that. With Java front end. So that it
can even run on a windows box (grr) if the customer wants so.
> How much remodeling of the computer system architecture do you think would
> be needed for a switch from DOS to LINUX ?
No idea. I started with rtlinux.Probably not so much.
> Thanks again for your answers, I really appreciate it, I am going to look
> into the places you all told me about,
>
> I saw some other persons seemed to be interested in the same kind of
> "problems", don't hesitate to email back to discuss them, we might have
> some common issues we would like to address.
There is (yet) no such thing as a tutorial for controlling a robot with rtlinux.
When you are able (a) to control a robot, (b) to use rtlinux, then you can control
a robot with rtlinux.
Good luck,
Daniele Lugli
PS When using RTLinux, it is not any more necessary to have a 10-ms
macrointerpolation and a 1-ms linear microinterpolation. Just use a 1-ms (or less,
depending on your machine) interpolation. (I have 500us on a 200MHz pentium II).
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