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Details of the Real Time Linux Foundation Working Group Project

OSADL Project: Real Time Linux Workshops

Real Time Linux Foundation Workshops since 1999

Real Time Linux Workshops

1999 - 2000 - 2001 - 2002 - 2003 - 2004 - 2005 - 2006 - 2007 - 2008 - 2009 - 2010

Ninth Real-Time Linux Workshop on November 2 to 4, 2007, in Linz, Austria

Cell/B.E. Based Robot Controller

Matthias Fritsch, Ronny Klauck, Marc Tritschler

The Cell/B.E. Based Robot Controller Project has the goal to implement a functional prototype of a robot controller on an IBM BladeCenter QS21 running Linux (Cell/B.E. is the processor used within the Playstation®3 and is also used within the blade server QS21). The functional prototype will include a show case where the benefits of the Cell/B.E. for automation applications are presented and next generation features are implemented. The features implemented in that showcase are: -Adaptive continuous path movement (E.g. balancing an object while moving) -Control multiple robot arms simultaneously -Collision control between robot arms

Current Project Status: -Continuous path movement running with 4 degrees of freedom -Control several robot arms -Performance measurements

Benefits of the Cell/B.E. for Automation: -Power Processor Element (PPE). Linux is running on this processing unit. -Synergistic Processing Element (SPE). Application threads are running bare metal on this processing unit -Linux like programming -DSP/Microcontroller features like very good response times, real time behavior, very good performance (E.g. 4 integer 32 bit operations within one cycle) etc.

Scope of Paper: -Cell/B.E. Fundamentals -Project Description -Project Status -Performance Measurements -SPE real time behavior -PPE Linux real time requirements


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