著者

関口 明生 羽鳥 哲史

出版者

独立行政法人 国立高等専門学校機構 木更津工業高等専門学校

雑誌

木更津工業高等専門学校紀要 (ISSN:21889201)

巻号頁・発行日

vol.50, pp.94-97, 2017-01-31 (Released:2017-08-02)

参考文献数

5

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It is difficult that to accurately run periodic process in cycle of less than a few tens of millisecond, using normal Linux distributions with normal scheduling policy in round-robin fashion. This article shows an easy way to resolve the problem by replacing the kernel with a low latency kernel. Its performance of latency without intentional load was evaluated using a frequently-used command at various interval and priority. It is possible that to design original software which runs on the soft-realtime OS. To evaluate its usability, we demonstrated positional control of a manipulator every 5 milliseconds. By running the control software on CUI environment, standard deviation of the time interval was suppressed compared to running the same software on GUI environment.