Industrial robot motion control with real-time Java']Java and EtherCAT

被引：0

作者：

Robertz, Sven Gestegard ^{[1
]}

Nilsson, Klas ^{[1
]}

Henriksson, Roger ^{[1
]}

Blomdell, Anders ^{[2
]}

机构：

[1] Lund Univ, Dept Comp Sci, S-22100 Lund, Sweden

[2] Lund Univ, Dept Automat Control, S-22100 Lund, Sweden

来源：

ETFA 2007: 12TH IEEE INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION, VOLS 1-3 | 2007年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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. Therefore, with the recent popularity of real-time Java, 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-shel f EtherCAT servo drives, and the Sun Java Real-Time System 2.0 on Solaris 10. This shows the feasibility of real-time Java for practical robot applications. It also shows one advantage of the Ether-CAT field bus technology, that no special master hardware is required. To our knowledge, this is the first robot control system implemented entirely in Java and executed on a certified virtual machine.

引用

页码：1453 / +

页数：2

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