Scara robot controller using real time linux

Abstract

Real Time systems have several important characteristics and constraints that had always been related to enterprise-level solutions provided by well known software and hardware suppliers. Real Time Linux and Free Software are making success in this area through low cost and reliable solutions with high levels of flexibility. This paper explores Real Time Linux and other useful free open source tools for Real Time systems, applied to control an industrial SCARA Robot including a Web based Human Machine Interface that is also presented.