DocumentCode
1725069
Title
A novel multi-OS architecture for robot application
Author
Yu, Qiang ; Wei, Hongxing ; Liu, Miao ; Wang, Tianmiao
Author_Institution
Sch. of Mech. Eng. & Autom., Beihang Univ., Beijing, China
fYear
2011
Firstpage
2301
Lastpage
2306
Abstract
In this paper we present a new multi-OS architecture designed particularly for SMP platform that run RTOS and GPOS on different CPUs. No modification is needed on the GPOS side. With this architecture we can achieve high performance with little engineering cost. A prototype multi-OS called RGMP (RTOS and GPOS on Multi-Processor) has been implemented using Linux as GPOS and μC/OS-II as RTOS to verify its feasibility. The result shows it is faster than RTAI and two OSes won´t affect each other. The applications of RGMP co-operating with ROS on robots are also illustrated.
Keywords
Linux; computer architecture; microcontrollers; multiprocessing systems; operating systems (computers); real-time systems; robot programming; μC/OS-II; CPU; Linux; RGMP; ROS; RTAI; RTOS and GPOS on multiprocessor; SMP platform; engineering cost; prototype multiOS architecture design; robot application; Central Processing Unit; Computer architecture; Hardware; Kernel; Linux; Real time systems; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location
Karon Beach, Phuket
Print_ISBN
978-1-4577-2136-6
Type
conf
DOI
10.1109/ROBIO.2011.6181641
Filename
6181641
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