Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Implementation of Wafer Handling Robot Controller Based on RTAI

RTAI 기반의 웨이퍼처리 로봇 제어기 구현

  • 장순필 (세종대학교 컴퓨터공학과) ;
  • 신익상 (경희대학교 기계공학과) ;
  • 문승빈 (세종대학교 컴퓨터공학과)
  • Published : 2008.09.01
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Abstract

As multiple functions arc required in a robot controller, RTOS(Real Time Operating System) should be adopted to manage complex situations, such as choosing most urgent task among competing ones. In this paper, we implemented RTAI(Real Time Application Interface) based robot controller for wafer handling robots including graphic simulator. We showed how multiple tasks are organized and also explained in detail about task priorities and execution periods. Finally, we presented simulation results.

Keywords

References

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