Robot controller specification using SART approach

The SART (Structured Analysis Real Time) specification method is considered to allow a more detailed and rigorous analysis of robot controller specification. A comparison is first developed between block diagrams and SART stream diagrams in the basic example of a joint control loop. Then the SART approach is applied to the two fundamentals levels of the robot controller: joint control and trajectory generation. Interest of SART approach is especially emphazised by showing the possibilities to specify specific databases, temporal aspects not obvious to represent as the treatment of online trajectory generation, and more generally functional decomposition of each process with associated control signals. The specification treatment of complex functions as trajectory planning or task space trajectory generation including inverse kinematic model is considered