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Macchelli A., Melchiorri C., Pescoller D.
"An Experimental Set-up for Robotics and Control Systems Research using Real-Time Linux and Comau SMART 3-S Robot"
 
Type Conference
Author(s) Macchelli A., Melchiorri C., Pescoller D.
Title An Experimental Set-up for Robotics and Control Systems Research using Real-Time Linux and Comau SMART 3-S Robot
Editor Real Time Linux Workshop 2001, 26-29 November 2001, Applied Linux and Embedded Internet Conference and Expo, Milano, Italy.
Keywords real-time linux, robotic
Abstract

It is well known that flexibility, short development times and low economical efforts are probably the most important features needed by any industrial application and, of course, in a robotic and control system oriented experimental set-up. The growth in performances of low-cost PC-based architectures and the diffusion of free-distributed software packages brought the possibility of developing such a kind of systems taking into account all these needs.

In this work we present the real-time control of an industrial manipulator, the Comau SMART 3-S, developed under a real-rime variant of the Linux operative system, RTAI-Linux. The basic idea is to build a flexible and highly configurable robotic set-up to quickly test new control algorithms and to easily use the robot in different manipulation tasks.

Document a951.Document.ps (1352338 bytes)
Year 2001


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