000112006 001__ 112006
000112006 005__ 20190812205121.0
000112006 02470 $$2ISI$$a000254341600025
000112006 037__ $$aCONF
000112006 245__ $$aControl of a Haptic Interface and a Micromachining Setup with an Open Source Real-Time System
000112006 260__ $$c2007
000112006 269__ $$a2007
000112006 336__ $$aConference Papers
000112006 520__ $$aOpen source software have evolved into powerful tools for real-time control of mechatronic systems. They are of interest for academic purposes, as they promise high flexibility at low cost. In this paper, we investigate the performance of an open source control architecture based on the Linux Real-Time Application Interface (RTAI) through two applications, a haptic interface for surgery simulation and a setup for the micromachining of glass. Both applications demand a compact real-time system with sufficient precision (i.e. low jitter) for online process control and data acquisition. The real-time control has been realized on a laptop with a USB-port data acquisition card. Performance measurement results show that high quality real-time control can be performed up to 2kHz via USB communication, which is sufficient for a large range of robotic or mechatronic applications. Drawbacks like the need for considerable knowledge of Linux internals for successful installation as well as the current limitations are discussed and strategies are proposed to overcome these. Both setups are currently being used for ongoing research as well as for educational purposes.
000112006 6531_ $$aLinux Real-Time Application
000112006 6531_ $$aHaptic Interface
000112006 6531_ $$aSACE
000112006 700__ $$0244054$$g170323$$aSamur, Evren
000112006 700__ $$0240236$$g153210$$aSpaelter, Ulrich
000112006 700__ $$0242155$$g154781$$aFlaction, Lionel
000112006 700__ $$aMaillard, Pascal
000112006 700__ $$aWuthrich, Rolf
000112006 700__ $$aBleuler, Hannes$$g104561$$0240027
000112006 7112_ $$dSeptember 4-7, 2007$$cLas Vegas, Nevada, USA$$aThe 3rd ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
000112006 8564_ $$zURL
000112006 8564_ $$zn/a$$uhttps://infoscience.epfl.ch/record/112006/files/DETC2007-35203.pdf$$s247726
000112006 909C0 $$pLSRO$$0252016
000112006 909CO $$pSTI$$ooai:infoscience.tind.io:112006$$qGLOBAL_SET$$pconf
000112006 937__ $$aLSRO-CONF-2007-017
000112006 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000112006 980__ $$aCONF