1. A method of periodically performing a real-time operation including a plurality of chained tasks using a plurality of processors, the method comprising: dividing the chained tasks into a first task group and a second task group based on a relationship in order of execution among the tasks, the second task group being executed after the first task group; and performing a scheduling operation of periodically assigning each of the first task group and the second task group to at least one of the processors to periodically execute the first task group at regular time intervals and periodically execute the second task group at the regular time intervals with a one-period delay relative to the first task group.