Using Real-time Java for Industrial Robot Control

Forskningsoutput: Kapitel i bok/rapport/Conference proceedingKonferenspaper i proceedingPeer review

Sammanfattning

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.
Originalspråkengelska
Titel på värdpublikationProceedings of the 5th International Workshop on Java Technologies for Real-time and Embedded Systems
RedaktörerGreg Bollella
FörlagAssociation for Computing Machinery (ACM)
Sidor104-110
Antal sidor7
ISBN (tryckt)978-59593-813-8
DOI
StatusPublished - 2007
EvenemangThe 5th International Workshop on Java Technologies for Real-time and Embedded Systems - Vienna, Österrike
Varaktighet: 2007 sep. 262007 sep. 28

Konferens

KonferensThe 5th International Workshop on Java Technologies for Real-time and Embedded Systems
Land/TerritoriumÖsterrike
OrtVienna
Period2007/09/262007/09/28

Ämnesklassifikation (UKÄ)

  • Datavetenskap (datalogi)

Fingeravtryck

Utforska forskningsämnen för ”Using Real-time Java for Industrial Robot Control”. Tillsammans bildar de ett unikt fingeravtryck.

Citera det här