An Implementation of Visual Servo System on RT-Linux.

Abstract

This paper describes the implementation issues of visual servo controller on a Linux-based real-time operating system. The Linux operating system is a Unix-like multi-user multi-task operating system and it is distributed freely. The real-time linux module adds a capability for hard real-time functionality, that is necessary for robot control, to Linux. Also a graphical user interface has been implemented on the basis of X Window System and Qt library. The implementation issues and some experimental data are presented. Discussion on the real-time control against the disturbance loads such as optical flow computation and heavy background processes are given.