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

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

Authors :
Wojciech Domski
Mateusz Cholewinski
Krzysztof Arent
Source :
MMAR
Publication Year :
2015
Publisher :
IEEE, 2015.

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.

Details

Database :
OpenAIRE
Journal :
2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR)
Accession number :
edsair.doi...........fcf4989601655e05b18f6ea7f9f1f228
Full Text :
https://doi.org/10.1109/mmar.2015.7283948