Stumbled upon this. A pleasant surprise.
Quoting
http://lwn.net/Articles/260118/The third paper measuring performance looked at the performance characteristics of an RT_PREEMPT kernel on an industrial controller board. In addition, the measurements were validated using a paint robot. Their conclusion provides a nice summary of the progress the Linux kernel has made for realtime applications:
Linux has for a long time proven that its stability is excellent, and now we see that the real-time performance is really moving towards other commercial real-time operating systems. The ability to be able to run a real-time application on the same processor as other standard applications is a winning combination. This is really what favors Linux as a real-time operating system compared to other dedicated real-time operating systems.
From these results ABB comes to the following conclusion: \During the course of this evaluation
we have validated and benchmarked certain real-time performance parameters in the context
of paint robots. The results are optimistic and the prospects are bright for the future with
Linux"
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