A Research on Low Latency Motion Control System using Real-time Scheduling in Edge Server

Abstract

Reducing end-to-end delay in safety-critical systems, such as controlling remote robots with motion controllers in industrial sites, is a major challenge. 5G mobile communication has greatly contributed to reducing transmission delay, but realtimeness in an edge server system responsible for packet processing and delivery in the middle of an industrial site can contribute even more. Although the Linux community released a kernel patch to enhance the real-time tasks, it occasionally violates the demand of bounded (worst case) latency. In this paper, we propose a real-time scheduling approach in the edge computing server to handle a latency violation and applies it to the two-way motion control system. As a result, our proposed approach shows that data packet processing is more effective than other comparison groups.