Authors:
Thomas Haase
1
;
Heinz Wörn
1
and
Holger Nahrstaedt
2
Affiliations:
1
Karlsruhe Institute of Technology, Germany
;
2
TU Berlin, Germany
Keyword(s):
QRtaiLab, RTAI linux, Matlab simulink Real-time workshop, SDH2, Shared memory.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Information-Based Models for Control
;
Real-Time Systems Control
;
Signal Processing, Sensors, Systems Modeling and Control
;
Time Series and System Modeling
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.