Title :
Software abstractions for modeling robot mechanisms
Author_Institution :
Univ. of Bergamo, Dalmine
Abstract :
In order to make robot software applications reusable across different robotic platform, there is the need to make software dependencies to the mechanical structure explicit. This means to define a common mechanism model that is used by every functional module to refer to the specific characteristics of the robot hardware. The aim of this paper is to illustrate the ANYMORPHOLOGY design pattern, which describes a set of software abstractions used to model robotic mechanisms.
Keywords :
control engineering computing; object-oriented programming; robot programming; software reusability; ANYMORPHOLOGY design pattern; functional module; mechanical structure; robot mechanism modeling; robot software application; software abstraction; software dependency; software reusability; Application software; Connectors; Kinematics; Legged locomotion; Mobile robots; Robot control; Robot sensing systems; Robot vision systems; Software quality; Software reusability; Mechanism model; Robotics; Software; development and reuse;
Conference_Titel :
Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on
Conference_Location :
Zurich
Print_ISBN :
978-1-4244-1263-1
Electronic_ISBN :
978-1-4244-1264-8
DOI :
10.1109/AIM.2007.4412415
