Real-time middleware with periodic service for industrial robot

Abstract

Industrial robots need to use a middleware to graft with IT technology, which can perform fast and precise data exchange. This paper provides some requirements for industrial robots and suggests a Real-time Middleware for Industrial Robot that manages periodic processes/threads, real-time events, and non-real-time processes and uses common memory with mutual exclusion method for simultaneous accesses to the same data. The results of experiments show that the jitters of modules running on the real-time middleware are within 0.63% of the corresponding periods in the worst case which have simultaneous multiple access to the common memory. So the proposed middleware is validated by some examples.