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Control Systems Group, TU Berlin, D-10587 Berlinnahrstaedt@control.tu-berlin.deKeywords: QRtaiLab, RTAI Linux, Matlab Simulink Real-Time Workshop, SDH2, Shared MemoryAbstract: At the Institute for Process Control and Robotics reactive grasping skills are developed to enhance the Multi-ngered SCHUNK Dextrous Hand 2 (SDH2) in order to fulll industrial needs. Therefore, RTAI Linux andMatlab - Simulink RTW are used as application development system (RTAI, 2010),(Mathworks, 2010). Theexchange of data between the Multi-ngered hand and the computer system is possible by means of a C++library. By reason that this SDH2 C++ library could not be used in Real-Time kernel programs this paperpresents an approach of how to combine Real-Time Simulink models (RTAI) with user-space tasks. Thereforea shared memory based interface within Simulink S-Functions is established. The RTAI Target LanguageCompiler remains unaffected. The designed interface is described in detail. It represents a contribution to thefurther development of RTAI. In addition a possibility of how to debug and visualize tactile sensor matriceswith QRtaiLab is presented.

SHARED MEMORY IN RTAI SIMULINK FOR KERNEL AND USER-SPACE COMMUNICATION AT THE EXAMPLE OF THE SDH-2 - QRtaiLab For SDH-2 Matrix Visualization