On the Validation of Robotics Control Systems Part II: Analysis of real-time closed-loop control tasks - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Reports Year : 1995

On the Validation of Robotics Control Systems Part II: Analysis of real-time closed-loop control tasks

Eduardo Castillo
  • Function : Author
Paul Freedman
  • Function : Author

Abstract

In the framework of the {\sc Orccad} system, periodic and multi-rate control laws are implemented in terms of a set of computing tasks to be executed under a real-time operating system. Simulations and experiments demonstrate that partially synchronizing such tasks can improve the practical performance of the implementation. In this paper, we examine the consequences of introducing such synchronisation in terms of two temporal problems which may occur and how they may be detected using Petri net modeling. We conclude with some guidelines about how to add such synchronisation to design deadlock free and efficient real-time periodic control laws.

Domains

Other [cs.OH]
Fichier principal
Vignette du fichier
RR-2720.pdf (170.89 Ko) Télécharger le fichier

Dates and versions

inria-00073973 , version 1 (24-05-2006)

Identifiers

  • HAL Id : inria-00073973 , version 1

Cite

Daniel Simon, Eduardo Castillo, Paul Freedman. On the Validation of Robotics Control Systems Part II: Analysis of real-time closed-loop control tasks. RR-2720, INRIA. 1995. ⟨inria-00073973⟩
84 View
65 Download

Share

Gmail Facebook X LinkedIn More