Comparison of two significant development methods applied to the design of real-time robot controllers

This paper presents the principal functionalities of robot-manipulator controllers and a comparative study of two development methods for real-time systems applied to this controller. The selected techniques are SART and the unified method associated to UML, because they represent two classical types of modelling techniques: structured design with functional decomposition and object-oriented methodology. We analyse seven design issues associated to the robot controller development process and its utilisation comparing these two methods