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Using real-time Java for industrial robot control

Authors:

Sven Gestegård Robertz,

Roger Henriksson,

Klas Nilsson,

Anders Blomdell,

Ivan TarasovAuthors Info & Claims

JTRES '07: Proceedings of the 5th international workshop on Java technologies for real-time and embedded systems

Pages 104 - 110

https://doi.org/10.1145/1288940.1288955

Published: 26 September 2007 Publication History

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Abstract

Safe 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. 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 No-HeapRealtimeThreads. 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.

References

[1]

Ethercat technology group web site. http://www.ethercat.org/.

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[2]

G. Bollella et al. The Real-Time Specification for Java. Addison-Wesley, 2001.

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[3]

B. Delsart, T. Printezis, G. Bollella, and D. Hofert. A real-time garbage collector for a real-time java virtual machine. Technical session 2901, JavaOne conference, 2007.

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[4]

R. Henriksson. Scheduling Garbage Collection in Embedded Systems. PhD thesis, Department of Computer Science, Lund University, 1998.

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[5]

S. G. Robertz. Applying priorities to memory allocation. In Proceedings of the 2002 International Symposium on Memory Management (ISMM'02), Berlin, Germany, June 2002.

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D. Spoonhower, J. Auerbach, D. F. Bacon, P. Cheng, and D. Grove. Eventrons: A safe programming construct for high-frequency hard real-time applications. In Proceedings of the ACM SIGPLAN 2006 Conference on Programming Language Design and Implementation (PLDI'06), Ottawa, Ontario, Canada, June 2006.

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Prat ATorens CCarrick BAdolf FGiljohann FLüdtke D(2024)Trade Study of Scripting Languages for Avionics Systems2024 AIAA DATC/IEEE 43rd Digital Avionics Systems Conference (DASC)10.1109/DASC62030.2024.10748678(01-09)Online publication date: 29-Sep-2024
https://doi.org/10.1109/DASC62030.2024.10748678
Smołka IStój J(2022)Utilization of SDN Technology for Flexible EtherCAT Networks ApplicationsSensors10.3390/s2205194422:5(1944)Online publication date: 2-Mar-2022
https://doi.org/10.3390/s22051944
Czerniejewski ABurns JGhanei FDantu KLiu YZiarek L(2021)JCopter: Reliable UAV Software Through Managed Languages2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS51168.2021.9636617(4282-4289)Online publication date: 27-Sep-2021
https://doi.org/10.1109/IROS51168.2021.9636617
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Using real-time Java for industrial robot control

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Published In

JTRES '07: Proceedings of the 5th international workshop on Java technologies for real-time and embedded systems

September 2007

237 pages

ISBN:9781595938138

DOI:10.1145/1288940

Program Chair:
Greg Bollella
Sun Microsystems, Inc.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

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Published: 26 September 2007

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Prat ATorens CCarrick BAdolf FGiljohann FLüdtke D(2024)Trade Study of Scripting Languages for Avionics Systems2024 AIAA DATC/IEEE 43rd Digital Avionics Systems Conference (DASC)10.1109/DASC62030.2024.10748678(01-09)Online publication date: 29-Sep-2024
https://doi.org/10.1109/DASC62030.2024.10748678
Smołka IStój J(2022)Utilization of SDN Technology for Flexible EtherCAT Networks ApplicationsSensors10.3390/s2205194422:5(1944)Online publication date: 2-Mar-2022
https://doi.org/10.3390/s22051944
Czerniejewski ABurns JGhanei FDantu KLiu YZiarek L(2021)JCopter: Reliable UAV Software Through Managed Languages2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS51168.2021.9636617(4282-4289)Online publication date: 27-Sep-2021
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Lee SSung M(2021)Design and Implementation of an Ethernet-Based Linear Motor Drive for Industrial Transport SystemsIEEE Access10.1109/ACCESS.2021.30608569(33061-33074)Online publication date: 2021
https://doi.org/10.1109/ACCESS.2021.3060856
Feng WShi XWang W(2018)Eliminating object reference checks by escape analysis on real-time Java virtual machineCluster Computing10.1007/s10586-018-2145-8Online publication date: 27-Feb-2018
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Luckow KPăsăreanu CThomsen B(2015)Symbolic execution and timed automata model checking for timing analysis of Java real-time systemsEURASIP Journal on Embedded Systems10.1186/s13639-015-0020-82015:1Online publication date: 29-Sep-2015
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Feng WShi XYu H(2015)Optimizing object reference checks on real-time Java virtual machine2015 6th IEEE International Conference on Software Engineering and Service Science (ICSESS)10.1109/ICSESS.2015.7339009(77-80)Online publication date: Sep-2015
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Chen ZKazanzides P(2014)Multi-kilohertz control of multiple robots via IEEE-1394 (firewire)2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)10.1109/TePRA.2014.6869144(1-6)Online publication date: Apr-2014
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Martínez PLanza JDrake JHarbour M(2013)Framework for the Design of Java Firm Real-time Systems Oriented to the Generation of Timing Behaviour ModelsProceedings of the 2013 39th Euromicro Conference on Software Engineering and Advanced Applications10.1109/SEAA.2013.26(195-202)Online publication date: 4-Sep-2013
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Basanta-Val PGarcia-Valls M(2013)Extending distributed real-time java with Remote Memory Areas2013 11th IEEE International Conference on Industrial Informatics (INDIN)10.1109/INDIN.2013.6622855(42-47)Online publication date: Jul-2013
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Java Embedded Real-Time Systems: An Overview of Existing Solutions

Enhancing OSGi with real-time Java support

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