Real-time Periodic Processing of RT-middleware Utilizing Linux Standard Functionalities

—Application to Haptic Joystick Operation of Omnidirectional Electric Wheelchair—

Abstract

A new methodology of real-time periodic processing on RT-middleware based on the Linux standard functionalities is presented in this paper. The central of discussion is on the realization of real-time processing while keeping the reusability of software modules ensured by the RT-middleware framework as well as the portability provided by the Linux development mainstream. In order to show the validity of the proposed approach, two robot systems, including an omnidirectional electric wheelchair steered by haptic joystick, are presented and the discussion about the evaluation result follows from the view point of practicality.