Time Is a Control Input: A Hard Real-Time Jetson Host Took a Humanoid Teleop Arm From 1.57 s Behind to On Time, Without Touching the Vendor Box
A robot arm that is fed position targets moves exactly as well as the host keeps time. We put our hard real-time layer on a Jetson AGX Orin in front of an unmodified UFACTORY xArm 7 used for humanoid teleoperation. Send jitter stayed within 5 µs, the box's 6.5 ms lag was cancelled, and the arm went from 1.57 s behind the plan to on time. Tool-tip error at the same instant fell from 165 mm to 0.3 mm, path error from 1.11 mm RMS to 0.008 mm, with zero box errors across 30 runs and a 1.57 kg load swinging from the gripper. This post is the whole stack, kernel to motor, with the measurements behind every layer.