SHARED MEMORY IN RTAI SIMULINK FOR KERNEL AND USER-SPACE COMMUNICATION AT THE EXAMPLE OF THE SDH-2 - QRtaiLab For SDH-2 Matrix Visualization

Thomas Haase, Heinz Wörn, Holger Nahrstaedt

2010

Abstract

At the Institute for Process Control and Robotics reactive grasping skills are developed to enhance the Multifingered SCHUNK Dextrous Hand 2 (SDH2) in order to fulfill industrial needs. Therefore, RTAI Linux and Matlab - Simulink RTW are used as application development system (RTAI, 2010),(Mathworks, 2010). The exchange of data between the Multi-fingered hand and the computer system is possible by means of a C++ library. By reason that this SDH2 C++ library could not be used in Real-Time kernel programs this paper presents an approach of how to combine Real-Time Simulink models (RTAI) with user-space tasks. Therefore a shared memory based interface within Simulink S-Functions is established. The RTAI Target Language Compiler remains unaffected. The designed interface is described in detail. It represents a contribution to the further development of RTAI. In addition a possibility of how to debug and visualize tactile sensor matrices with QRtaiLab is presented.

Paper Citation

in Harvard Style

Haase T., Wörn H. and Nahrstaedt H. (2010). SHARED MEMORY IN RTAI SIMULINK FOR KERNEL AND USER-SPACE COMMUNICATION AT THE EXAMPLE OF THE SDH-2 - QRtaiLab For SDH-2 Matrix Visualization . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-989-8425-02-7, pages 160-165. DOI: 10.5220/0002875401600165

in Bibtex Style

@conference{icinco10,
author={Thomas Haase and Heinz Wörn and Holger Nahrstaedt},
title={SHARED MEMORY IN RTAI SIMULINK FOR KERNEL AND USER-SPACE COMMUNICATION AT THE EXAMPLE OF THE SDH-2 - QRtaiLab For SDH-2 Matrix Visualization},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2010},
pages={160-165},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002875401600165},
isbn={978-989-8425-02-7},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - SHARED MEMORY IN RTAI SIMULINK FOR KERNEL AND USER-SPACE COMMUNICATION AT THE EXAMPLE OF THE SDH-2 - QRtaiLab For SDH-2 Matrix Visualization
SN - 978-989-8425-02-7
AU - Haase T.
AU - Wörn H.
AU - Nahrstaedt H.
PY - 2010
SP - 160
EP - 165
DO - 10.5220/0002875401600165