Skip to main content

Lund University Publications

LUND UNIVERSITY LIBRARIES

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 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
; ; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Java, real-time, garbage collection, motion control, industrial robot
host publication
Proceedings of the 5th International Workshop on Java Technologies for Real-time and Embedded Systems
editor
Bollella, Greg
pages
7 pages
publisher
Association for Computing Machinery (ACM)
conference name
The 5th International Workshop on Java Technologies for Real-time and Embedded Systems
conference location
Vienna, Austria
conference dates
2007-09-26 - 2007-09-28
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
2016-04-04 09:57:22
date last changed
2025-04-04 14:11:17
@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}},
  keywords     = {{Java; real-time; garbage collection; motion control; industrial robot}},
  language     = {{eng}},
  pages        = {{104--110}},
  publisher    = {{Association for Computing Machinery (ACM)}},
  title        = {{Using Real-time Java for Industrial Robot Control}},
  url          = {{http://dx.doi.org/10.1145/1288940.1288955}},
  doi          = {{10.1145/1288940.1288955}},
  year         = {{2007}},
}