A hybrid operating system for modular dual-arm manipulator

A hybrid operating system running on a dual-core processor is introduced, and it incorporates the advantages of both real-time system and non-real-time system by establishing a mechanism of routing and communication method. After testing on a modular dual-arm manipulator, it has been proved that the system is robust and feasible. Firstly, by performing the kinematics analysis on a 3D demonstration platform, the path planning and online teaching are realized. Then, after testing the response time of the system, real-time motion control of the manipulator is fulfilled to perform coordinated task. The main contribution of the present work lie in developing a hybrid operating system for modular dual-arm manipulator, which has abundant software packages and can perform real-time tasks.