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Industrial robot motion control with real-time Java and EtherCAT

Robertz, Sven LU ; Nilsson, Klas LU ; Henriksson, Roger LU and Blomdell, Anders LU (2007) 12th IEEE Conference on Emerging Technologies and Factory Automation In Proceedings of the12th IEEE Conference on Emerging Technologies and Factory Automation p.1453-1456
Abstract
Safe object-oriented programming languages like Java provide a much more programmer-friendly environment than the low-level languages in which real-time and embedded software have traditionally been implemented. Therefore, with the recent popularity of real-time Java, 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. This shows the feasibility of real-time Java for practical robot applications. It also shows one advantage of the EtherCAT field bus... (More)
Safe object-oriented programming languages like Java provide a much more programmer-friendly environment than the low-level languages in which real-time and embedded software have traditionally been implemented. Therefore, with the recent popularity of real-time Java, 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. This shows the feasibility of real-time Java for practical robot applications. It also shows one advantage of the EtherCAT field bus technology, that no special master hardware is required. To our knowledge, this is the first robot control system implemented entirely in Java and executed on a certified virtual machine. (Less)
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author
organization
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type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
Proceedings of the12th IEEE Conference on Emerging Technologies and Factory Automation
pages
4 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
12th IEEE Conference on Emerging Technologies and Factory Automation
external identifiers
  • wos:000254117100215
  • scopus:47849121536
ISBN
1-4244-0826-1
language
English
LU publication?
yes
id
504db90f-b547-4596-a04d-c1fbe17d71ec (old id 630862)
date added to LUP
2007-11-28 09:26:38
date last changed
2017-09-03 04:59:50
@inproceedings{504db90f-b547-4596-a04d-c1fbe17d71ec,
  abstract     = {Safe object-oriented programming languages like Java provide a much more programmer-friendly environment than the low-level languages in which real-time and embedded software have traditionally been implemented. Therefore, with the recent popularity of real-time Java, it is interesting to examine its feasibility for robot motion control.<br/><br>
<br/><br>
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. This shows the feasibility of real-time Java for practical robot applications. It also shows one advantage of the EtherCAT field bus technology, that no special master hardware is required. To our knowledge, this is the first robot control system implemented entirely in Java and executed on a certified virtual machine.},
  author       = {Robertz, Sven and Nilsson, Klas and Henriksson, Roger and Blomdell, Anders},
  booktitle    = {Proceedings of the12th IEEE Conference on Emerging Technologies and Factory Automation},
  isbn         = {1-4244-0826-1},
  language     = {eng},
  pages        = {1453--1456},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Industrial robot motion control with real-time Java and EtherCAT},
  year         = {2007},
}