Real Time Control And Driver For Humanoid Robot

Real time operating system is developing rapidly abroad, but domestic enterprise and colleages both mainly adopt the commercial VxWorks and QNX system, which are not only expensive but also keep secrecy on technic, and this have seriously interfered the development and research of our own operating system. On the other side, the domestic research and development are not in great depth due to the complexity and difficullty.The subject of this thesis is from the national key 863 project-High Performance System and Units of Humanoid Robot. This thesis have done some works as follows:1. Analyse the theory and introduce the details of RTAI system-a hard real time and free open source system. Describle it's structure, function and main component entities. Test and verify it's advantage on real time performance by some experiments.2. Design the main control program of humanoid robot on RTAI system, the control program includes some contorl algorithms,sensor data acquisiting, hardware driver,CAN network communication, EPA network communication, RTnet real time ethernet,it has over 130000 lines of codes.3. Implement the hardware driver on RTAI system, which includes the gyro sensor, force&moment sensor, a pci card for hand control. Introuce the driver model and API of RTAI system.4. Do some research on RTnet real time ethernet protocol and apply it on humanoid robot succesfully. RTnet can reduce the delay time and uncertainty of communication and improve the efficiency of network.RTAI real time system is very significant for the development of humanoid robot. In the future work, RTAI can also be applied in real time distributed computing, field bus protocol, embeded applycation etc and have a bright perspective.