This work is to observe the performance of PC based robot manipulator under general purpose （Windows）, Soft （Linux） and Hard （RT Linux） Real Time Operating Systems （OS）. The same open loop control system is ob...This work is to observe the performance of PC based robot manipulator under general purpose （Windows）, Soft （Linux） and Hard （RT Linux） Real Time Operating Systems （OS）. The same open loop control system is observed in different operating systems with and without multitasking environment. The Data Acquisition （DAQ, PLC-812PG） card is used as a hardware interface. From the experiment, it could be seen that in the non real time operating system （Windows）, the delay of the control system is larger than the Soft Real Time OS （Linux）. Further, the authors observed the same control system under Hard Real Time OS （RT-Linux）. At this point, the experiment showed that the real time error （jitter） is minimum in RT-Linux OS than the both of the previous OS. It is because the RT-Linux OS kernel can set the priority level and the control system was given the highest priority. The same experiment was observed under multitasking environment and the comparison of delay was similar to the preceding evaluation.展开更多
In order to deal with the problems of laying and assembly planning of slender flexible parts in electromechanical products,a novel approach to operate the physically-based slender flexible parts in an augmented realit...In order to deal with the problems of laying and assembly planning of slender flexible parts in electromechanical products,a novel approach to operate the physically-based slender flexible parts in an augmented reality environment is presented in this paper.A discrete dynamic method is used to efficiently build the physical model of slender flexible parts,which is very well suited for interactive operation in the augmented reality environment.In this model,bending penalty force can be calculated by the bending energy function to improve dynamic bending behavior,and a penalty method is used to simplify the calculation of geometric torsion.With a reasonable construction of augmented reality environment,a real-time interactive algorithm based on the operating panel is proposed to enable users to interact with the virtual slender flexible parts in the mixed reality-based scene.A case study in the augmented reality environment shows that the proposed approach is efficient and feasible.展开更多
文摘This work is to observe the performance of PC based robot manipulator under general purpose （Windows）, Soft （Linux） and Hard （RT Linux） Real Time Operating Systems （OS）. The same open loop control system is observed in different operating systems with and without multitasking environment. The Data Acquisition （DAQ, PLC-812PG） card is used as a hardware interface. From the experiment, it could be seen that in the non real time operating system （Windows）, the delay of the control system is larger than the Soft Real Time OS （Linux）. Further, the authors observed the same control system under Hard Real Time OS （RT-Linux）. At this point, the experiment showed that the real time error （jitter） is minimum in RT-Linux OS than the both of the previous OS. It is because the RT-Linux OS kernel can set the priority level and the control system was given the highest priority. The same experiment was observed under multitasking environment and the comparison of delay was similar to the preceding evaluation.
基金supported by the Basic Research Project of China National 12th Five-year Plan
文摘In order to deal with the problems of laying and assembly planning of slender flexible parts in electromechanical products,a novel approach to operate the physically-based slender flexible parts in an augmented reality environment is presented in this paper.A discrete dynamic method is used to efficiently build the physical model of slender flexible parts,which is very well suited for interactive operation in the augmented reality environment.In this model,bending penalty force can be calculated by the bending energy function to improve dynamic bending behavior,and a penalty method is used to simplify the calculation of geometric torsion.With a reasonable construction of augmented reality environment,a real-time interactive algorithm based on the operating panel is proposed to enable users to interact with the virtual slender flexible parts in the mixed reality-based scene.A case study in the augmented reality environment shows that the proposed approach is efficient and feasible.
