• 제어로봇시스템학회논문지
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• 제3권4호
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• pp.373-380
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• 1997

In order to implement the real-time operating systems for robot controller, this paper proposes a systematic method for implementing the real-time kernel under the DOS environment. So far, we designed the robot control software and its own operating system simultaneously. Though robot operating systems have simple structure, it allows the developer to have a surplus time and effort to implement complete robot systems. In addition to this, in most cases of this type, operating systems does not support multitasking function, thus, low level hardware interrupts are used for real-time execution. Subsequently, some kinds of real-time tasks are hard to implement under this environment. Nowadays, the operating systems for robot controller requires multitasking functions, intertask communication and task synchronization mechanism, and rigorous real-time responsiveness. Thus, we propose an effective and low costs real-time systems for robot controller satisfying the various real-time characteristics. The proposed real-time systems are verified through real implementation.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 추계종합학술대회 논문집
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• pp.716-719
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• 1999

In this paper, a real-time control system for robot manipulator is implemented using real-time operating system with capabilities of multitasking, intertask communication and synchronization, event-driven, priority-driven scheduling, real-time clock control, etc. The hardware system with VME bus and related devices is developed and applied to implement a dynamic learning control scheme for robot manipulator. Real-time performance of the proposed dynamic learning controller is tested for tasks of tracking moving objects and compared with the conventional servo controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.375-378
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• 1996

Robot control software is a hard real-time system that must output the planned trajectory points within an explicit short time period. In this paper, we present a design and implementation method for robot control software using commercial real-time operating systems, RTKemel 4.5. Therefore, various robot motions, efficient user interface, and system failure check are easily implemented by using multitasking function, intertask communication mechanism, and real-time runtime libraries of RTKernel. The performance analysis of commercial real-time operating system for robot control is presented based on Timed Petri net(TPN) and we can use these results to design an optimal system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.414-414
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• 2000

This paper presents a method for building a real-time kernel of autonomous mobile robot control systems. Until now, most of robots have their own operation softwares dedicated only for their use. Sometimes, operation softwares were developed based on MS-DOS or other real -time kernel based on UNIX. However, MS-DOS has many restrictions for use as a robot operation system. Also, mix based real-time kernel has some Limitations for use with mobile robots. So, in this paper, we focus on building a real-time kernel based on Linux. The in this paper, the software modules of Task Management, Memory Management, Intertask Communication, and Synchronization are redesigned. To show the efficiency of the paper, it was applied to run Nomad Super Scout II avoiding obstacles detected by sonar sensor array.

• 전기학회논문지P
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• 제57권2호
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• pp.109-114
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• 2008

In this paper, a dynamic learning controller for robot manipulator is implemented using real-time operating system with capabilities of multitasking, intertask communication and synchronization, event-driven, priority-driven scheduling, real-time clock control, etc. The controller hardware system with VME bus and related devices is developed and applied to implement a dynamic learning control scheme for robot manipulator. Real-time performance of the proposed dynamic learning controller is tested and evaluated for tracking of the desired trajectory and compared with the conventional servo controller.

• 전자공학회논문지CI
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• 제40권4호
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• pp.222-231
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• 2003

디지털기술과 반도체기술의 발전은 모든 전자제품의 발전을 가지고 왔다. 특히 이동 통신과 컴퓨터의 발전은 전자제품은 물론이고 가전제품까지도 네트워크화와 고성능화를 가져오게 하였다 따라서 기존의 전자제품들이 단순제어와 독자적인 동작에서 벗어나서 복잡한 제어와 네트워크에 접속이 되며, 원격으로 조종되는 기능이 추가가 되어지고 있다. 따라서 내장형 기기(Embedded System)는 예전의 단일 Task의 단순 루프 제어 방식과는 달리 다중 Task의 실시간 처리가 필요하게 되었다. 이에 따라서 중·소형 기기에도 실시간 운영체제의 필요성이 대두되고 있다. 본 논문에서는 소형 내장형 기기를 위한 실시간 운영체제를 설계하고 구현하였다. 소형 내장형 기기는 자원과 CPU의 성능에서 한계가 있기 때문에 기존의 상업용 운영체제의 기능 중에서 가장 필요한 기능을 중심으로 구현하였다.