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Using Real-time Java for Industrial Robot Control

Robertz, Sven LU ; Henriksson, Roger LU ; Nilsson, Klas LU ; Blomdell, Anders LU and Tarasov, Ivan (2007) The 5th International Workshop on Java Technologies for Real-time and Embedded Systems In Proceedings of the 5th International Workshop on Java Technologies for Real-time and Embedded Systems p.104-110
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... (More)
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. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Java, real-time, garbage collection, motion control, industrial robot
in
Proceedings of the 5th International Workshop on Java Technologies for Real-time and Embedded Systems
editor
Bollella, Greg
pages
7 pages
publisher
ACM
conference name
The 5th International Workshop on Java Technologies for Real-time and Embedded Systems
external identifiers
  • Scopus:38849166561
ISBN
978-59593-813-8
DOI
10.1145/1288940.1288955
language
English
LU publication?
yes
id
b0073670-b4c2-4eaa-b3d2-5a957b23f47f (old id 632003)
date added to LUP
2007-11-28 12:16:51
date last changed
2017-02-26 04:29:22
@inproceedings{b0073670-b4c2-4eaa-b3d2-5a957b23f47f,
  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.},
  author       = {Robertz, Sven and Henriksson, Roger and Nilsson, Klas and Blomdell, Anders and Tarasov, Ivan},
  booktitle    = {Proceedings of the 5th International Workshop on Java Technologies for Real-time and Embedded Systems},
  editor       = {Bollella, Greg},
  isbn         = {978-59593-813-8},
  keyword      = {Java,real-time,garbage collection,motion control,industrial robot},
  language     = {eng},
  pages        = {104--110},
  publisher    = {ACM},
  title        = {Using Real-time Java for Industrial Robot Control},
  url          = {http://dx.doi.org/10.1145/1288940.1288955},
  year         = {2007},
}