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Embedded Real-Time Linux for Cable Robot Control

[+] Author Affiliations
Frederick M. Proctor, William P. Shackleford

National Institute of Standards and Technology, Gaithersburg, MD

Paper No. DETC2002/CIE-34506, pp. 851-856; 6 pages
  • ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 1: 22nd Computers and Information in Engineering Conference
  • Montreal, Quebec, Canada, September 29–October 2, 2002
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 0-7918-3621-5 | eISBN: 0-7918-3603-7
  • Copyright © 2002 by ASME


Linux is a version of the Unix operating system distributed according to the open source model. Programmers are free to adapt the source code for their purposes, but are required to make their modifications or enhancements available as open source software as well. This model has fostered the widespread adoption of Linux for typical Unix server and workstation roles, and also in more arcane applications such as embedded or real-time computing. Embedded applications typically run in small physical and computing footprints, usually without fragile peripherals like hard disk drives. Special configurations are required to support these limited environments. Real-time applications require guarantees that tasks will execute within their deadlines, something not possible in general with the normal Linux scheduler. Real-time extensions to Linux enable deterministic scheduling, at task periods at tens of microseconds. This paper describes embedded and real-time Linux, and an application for distributed control of a Stewart Platform cable robot. Special Linux configuration requirements are detailed, and the architecture for teleoperated control of the cable robot is presented, with emphasis on the resolved-rate control of the suspended platform.

Copyright © 2002 by ASME
Topics: Robots , Cables



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