Improved real-time visual servo system by combining Xenomai with Linux system

Aiming at tackling the issue of poor real-time performance of visual servo in industrial control, a safe, stable and high real-time performance visual servo control scheme is proposed. Firstly, Xenomai is chosen to combine with the traditional Linux kernel, that is, the improved Linux with Xenomai (ILX). Secondly, the delay parameters of real-time processing are obtained via processing image in real time through Opencv library on ILX system. Finally, EtherCAT is devoted to building the communication framework of the master station. The experimental results show that the real-time performance is improved by 30%, compared with the traditional visual servo system, which provides reference value for real-time application of visual servo in industry.