Deployment of model based robotic control algorithms, designed using Matlab/Simulink, in the form of OROCOS components operating under Linux Xenomai

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 01 Aug 2015Publisher:IEEEJournal:2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR)

Authors: Krzysztof Arent; Wojciech Domski; Mateusz Cholewinski;

doi: 10.1109/mmar.2015.7283948

Deployment of model based robotic control algorithms, designed using Matlab/Simulink, in the form of OROCOS components operating under Linux Xenomai

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Abstract

The article focuses on deployment of model based control algorithms which have passed the stage of simulation analysis in Simulink. The target software platform is OROCOS framework within Linux Xenomai — a real-time operational system. First, the algorithm of transforming of an automatically generated code from Simulink scheme into an OROCOS component is presented. Next, the proposed procedure is discussed and evaluated from the perspective of the control engineer's needs.

Related Organizations

Wrocław University of Science and Technology
Poland

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