Real time Controller
For an elaborate control of robots, real-time control is very important issue. But to make a system as real-time controlled system, we need special tools. For example, RTX(Real Time extension) under Windows operating system and RT Patch, RTAI, Xenomai and so on under Linux system. We chose Xenomai on a Linux OS because not only RTX is expensive but also Linux is free and has lots of open source information. So, from the open source data, we can develop our own single board computer with small size and low price.
This main controller has several CAN channels so we can connect lots of sub-systems such as motor controller and sensors. Due to the multiple CAN channels we can increase overall control frequency.