Location: Embedded System trackTime: 2007-11-14 14.00Level: Intermediate
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Dr. Sven Gestegård Robertz, and Dr. Roger Henriksson, Lund University ,SwedenSven Gestegård Robertz received his Ph.D. in 2006 on memory management in real-time systems, studying both allocation and reclamation of memory with focus on flexibility, adaptivity and robustness. He works as a researcher at the department of computer science, Lund university and his research interests include embedded real-time systems, memory management, adaptive scheduling, and real-time Java for industrial robot control. Roger Henriksson received his Ph.D. in 1998 on scheduling techniques for memory management in hard real-time systems. He is an associate professor at the Department of Computer Science, LundUniversity, where he is an active researcher and teacher in the field of real-time systems. His research interests include runtime systems with emphasis on memory management, scheduling theory, and robotic systems
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Industrial robot control with real-time Java 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. With the release of the Sun Real Time System for Java version 2.0, the VM has a real-time garbage collector, removing the need for the special memory management for the real-time parts of the code required in earlier RTSJ implementations. Therefore, it is interesting to examine the feasibility of real-time Java for hardreal-time applications with short cycle times, such as robot motion control. We will present experiences from implementing 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. The robot application was developed in collaboration with Sun Microsystems and shown at JavaOne 2007, both in the pavillion exhibition and on stage at the closing keynote. To our knowledge, this is the first robot control system implemented entirely in Java and executed on a certified virtual machine, and it shows the feasibility of real-time Java for practical robot applications.
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