Real-time control of haptic device using personal computer

This paper presents the control system setup for haptic device including the hardware configuration and software architecture. The real-time millisecond-or-even-less class control environment running under Windows operating system is presented. In the system, the real-time operation is achieved by triggering the control loop via parallel port interrupt line. The performance of novel real-time system is compared to Matlab-Simulink and RT-Linux real-time performances.