Industrial motion control applications using linux RTAI

RTAI extension to Linux operating system makes it possible to perform Hard Real-Time (HRT) controls using a commercial PC and utilizing open-source code. This paper details a software installation process, along with the suitable hardware chosen for realizing motion controls using Linux-RTAI. Advantages offered by the possibility of designing and developing motion controls using the powerful tools of high level object-languages (i.e. Simulink) are described. It is proven that the combination of Simulink as a development environment and Linux-RTAI PC as a controller platform brings advantages that can be greatly appreciated in industrial motion control applications, such as: very reduced time for development, diagnostics, design of controls; adequate control performance; cost reductions offered by the open-source status of the operating system.