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Implementation of Wafer Handling Robot Controller Based on RTAI  

Chang, Soon-Pill (세종대학교 컴퓨터공학과)
Shin, Ik-Sang (경희대학교 기계공학과)
Moon, Seung-Bin (세종대학교 컴퓨터공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.25, no.9, 2008 , pp. 45-52 More about this Journal
Abstract
As multiple functions arc required in a robot controller, RTOS(Real Time Operating System) should be adopted to manage complex situations, such as choosing most urgent task among competing ones. In this paper, we implemented RTAI(Real Time Application Interface) based robot controller for wafer handling robots including graphic simulator. We showed how multiple tasks are organized and also explained in detail about task priorities and execution periods. Finally, we presented simulation results.
Keywords
Linux; Robot controller; RTAI; RTOS;
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