Design of controller system for industrial robot based on RTOS Xenomai

A well-designed controller has a decisive effect on the performance of an industrial robot. Apart from control stability, good generality and flexible extension of the controller are becoming more and more important. In this paper, a multi-tasking robot controller software system based on Xenomai real-time operating system is presented. To ensure its generality, the controller system is multitasking designed into Robot Control (RC), soft PLC, hardware driver, EtherCAT communication and management modules. The development for operation, synchronization, communication and cooperation among tasks and modules are given in detail, supporting a well working basic system.