著者

清水 昌幸 石綿 陽一 尹 祐根 加賀美 聡

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2012, pp."1P1-P05(1)"-"1P1-P05(4)", 2012-05-27

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This article discusses how to construct a realtime robot control system on RT-Middleware with ART-Linux, which supports AMP (Asymmetric Multi-Processing). As an example, a force feedback control system is implemented by means of multiple RT-Components that require realtime synchronous execution. There are some different system formations depending on the processor and process on which each component runs. The realtime performance of the system is evaluated based on experimental results for several formations.