Practical approach towards porting drivers for data acquisition cards under real-time operating system Linux Xenomai

The paper highlights the necessity of hard real-time operating systems and real-time drivers for robotic systems, careful attention was devoted to the medical systems such as ReMeDi [4]. The paper explains demand for real-time device drivers in terms of filling the gap between the control algorithm output and actuators. It is important to develop robotic systems that are deterministic and safe especially while human factor is present and safety requirements has to be taken into account. Furthermore, a framework is presented that facilitates the real-time requirements.

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Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.