Abstract
Safe languages like Java provide a much more programmerfriendly environment than the low-level languages in which real-time and embedded software have traditionally been implemented. However, an obstacle for widespread use of Java in control applications has been the predictability and real-time performance of garbage collection, and the cumbersome memory management associated with RTSJ NoHeapRealtimeThreads. The current version of the Sun Java Real-Time System includes a real-time garbage collector, and therefore, it is interesting to examine its feasibility for robot motion control. We have implemented a motion control system, and an application, for an ABB IRB 340 industrial robot entirely in real-time Java, using standard computer hardware, off-the shelf EtherCAT servo drives, and the Sun Java Real-Time System 2.0 on Solaris 10. To our knowledge, this is the first robot control system implemented entirely in Java and executed on a certified virtual machine.
Original language | English |
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Title of host publication | Proceedings of the 5th International Workshop on Java Technologies for Real-time and Embedded Systems |
Editors | Greg Bollella |
Publisher | Association for Computing Machinery (ACM) |
Pages | 104-110 |
Number of pages | 7 |
ISBN (Print) | 978-59593-813-8 |
DOIs | |
Publication status | Published - 2007 |
Event | The 5th International Workshop on Java Technologies for Real-time and Embedded Systems - Vienna, Austria Duration: 2007 Sept 26 → 2007 Sept 28 |
Conference
Conference | The 5th International Workshop on Java Technologies for Real-time and Embedded Systems |
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Country/Territory | Austria |
City | Vienna |
Period | 2007/09/26 → 2007/09/28 |
Subject classification (UKÄ)
- Computer Science
Free keywords
- Java
- real-time
- garbage collection
- motion control
- industrial robot