Using real-time Java for industrial robot control
Using real-time Java for industrial robot control
复制标题
使用实时Java进行工业机器人控制
DOI：
--
复制
发表时间：
2007
期刊：
影响因子：
--
通讯作者：
Ivan Tarasov
中科院分区：
文献类型：
--
作者：
S. Robertz;R. Henriksson;K. Nilsson;Anders Blomdell;Ivan Tarasov
与Java这样的安全语言提供了比实时和嵌入式软件传统上实施的低级语言相比，提供了更大的程序员友好环境。但是，在控制应用程序中广泛使用Java的障碍是垃圾收集的可预测性和实时性能，而与RTSJ无赫里普尔雷德雷德斯相关的繁琐的内存管理。当前版本的Sun Java实时系统包括一个实时垃圾收集器，因此，检查其对机器人运动控制的可行性很有趣。
我们使用标准的计算机硬件，现成的EtherCat伺服驱动器和Sun Java实时系统2.0在实时Java中实现了一个运动控制系统和一个ABB IRB 340工业机器人的应用程序和应用程序Solaris 10。据我们所知，这是完全在Java中实现并在经过认证的虚拟机上执行的机器人控制系统。
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.