Multi-stage deplyoment of robot control software

In English For future robot control, there is a strong need for tools and methods supporting the development and deployment of control software. To this end, we propose a method for developing hard real-time software based on the standard Java language and multi-stage deployment and verification towards the embedded platform. This allows us to develop embedded Java software on the desktop using standard software tools for implementation, testing, and verification, to later be deployed onto the embedded platform. The deployment is done in stages from pure Java to hard real-time embedded C. This allows us to easily find and cope with platform-related problems due to different run-time environments and thread models. The proposed method has been experimentally tested in the development of a robot control application.