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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.

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Paper citation in several formats:
Haase, T.; Wörn, H. and Nahrstaedt, H. (2010). SHARED MEMORY IN RTAI SIMULINK FOR KERNEL AND USER-SPACE COMMUNICATION AT THE EXAMPLE OF THE SDH-2 - QRtaiLab For SDH-2 Matrix Visualization. In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 978-989-8425-02-7; ISSN 2184-2809, SciTePress, pages 160-165. DOI: 10.5220/0002875401600165

@conference{icinco10,
author={Thomas Haase. and Heinz Wörn. and Holger Nahrstaedt.},
title={SHARED MEMORY IN RTAI SIMULINK FOR KERNEL AND USER-SPACE COMMUNICATION AT THE EXAMPLE OF THE SDH-2 - QRtaiLab For SDH-2 Matrix Visualization},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2010},
pages={160-165},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002875401600165},
isbn={978-989-8425-02-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - SHARED MEMORY IN RTAI SIMULINK FOR KERNEL AND USER-SPACE COMMUNICATION AT THE EXAMPLE OF THE SDH-2 - QRtaiLab For SDH-2 Matrix Visualization
SN - 978-989-8425-02-7
IS - 2184-2809
AU - Haase, T.
AU - Wörn, H.
AU - Nahrstaedt, H.
PY - 2010
SP - 160
EP - 165
DO - 10.5220/0002875401600165
PB - SciTePress