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RealtimeRobotics is a RoboticsLab Premium add-on which implements a commercial RTOS-based real-time control framework for RoboticsLab. It provides seamless integration of real robotics systems on RTOS(realtime OS) with user-created control algorithm plug-ins on RoboticsLab. Users can perform gard realtime control of real robots using RoboticsLab high-quality control SDK. This control SDK supports a variety of system interfaces such as EtherCAT, CAN, IEEE1394 as well as a number of PCI and ISA based DAQ boards.

Features

≫ Commercial RTOS based realtime control framework on PC Platform

≫ Supporting system interfaces such as EtherCAT, CAN, IEEE1394 as well as a number of PCI and ISA

    based DAQ boards

≫ Seamless integration with RoboticsLab

≫ Realtime mixed-reality simulation

Videos

RoboticsLab CK1 6DOF Manipulator

System Integration

Denso Teleoperation

TUBerlin WAM Control with RealtimeRobotics

Mixed Reality

RTX integration

≫ Enable 1KHz or faster hard real-time control on Windows PC

≫ Control timer latency less than 5㎲

Windows multimedia timer

RealtimeRobotics hard real-time

timer powered by RTX

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At most 1(ms) time resolution

At least 0.1(ms) time resolution

On average ±30㎲ time latency

(under 1KHz control)

On average 0.1㎲ (0.01%) time

latency (under 1KHz control)

±1(ms) maximum time latency

(under 1KHz control)

±5㎲ (0.5%) maximum time

latency (under 1KHz control)

EtherCAT-to-RS485/CAN Converter

≫ Three isolated RS485 channels with 1KHz

    bandwidth

≫ Two isolated CAN channels

≫ User defined network packet (240 bytes)

≫ EtherCAT master module included in

    RealtimeRobotics

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Tested Robot Platforms

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Barrett WAM Arm

· 7DOF robot arm

· ESD CAN communication

· 500Hz torque control

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Meka humanoid torso and arm

· T2 humanoid torso

· A2 compliant arm

· H2 compliant hand

· ATI force torque sensor

· EtherCAT communication

· 1KHz torque control

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XR4000

· Mobile base with four

  powered castors

· ServoToGo ISA DAQ board

· 500Hz torque control

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ERArm

· Vertical 3DOF arm for

  education

· EtherCAT communication

· 1KHz torque / position

  control

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SAP1

· 7DOF arm for education

· IEEE1394 communication

· 1KHz torque control

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sQ-1

· Quadruped robot

· RS485 communication

· 1KHz torque control

· Self-balance algorithm

Success Story

≫ T.U.Berlin Robotics and Biology Laboratory

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Art Project (Barrett WAM™ Arm)

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Humanoid Upperbody (Meka T2 humanoid torso + A2 compliant arm)

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Mobile manipulation (Barrett WAM™ Arm + XR4000)

≫ Seoul National University Dynamic Robotics System Labortory

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· Inverse dynamics control

· Operational space control

· Impedance control

System Requirements

· RoboticsLab standard is required.

Operating System

MS Windows® XP Professional with SP2 (32bit)

MS Windows® Vista

MS Windows® 7

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RTX2009 SDK or runtime

IDE

MS Visual Studio® 2005/2008

CPU

DUAL-core required

(Quad-core recommended)

KPA (optional)

KPA EtherCAT master runtime

(Required for EtherCAT user)

Download

» RealtimeRobotics brochure

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