Title :
Model-driven robot-software design using integrated models and co-simulation
Author :
Broenink, Jan F. ; Yunyun Ni
Author_Institution :
Robot. & Mechatron. group, Univ. of Twente, Enschede, Netherlands
Abstract :
The work presented here is on a methodology for design of hard real-time embedded control software for robots, i.e. mechatronic products. The behavior of the total robot system (machine, control, software and I/O) is relevant, because the dynamics of the machine influences the robot software. Therefore, we use two appropriate Models of Computation, which represent continuous-time equations for the machine / robot part, and discrete event / discrete time equations for the control software part.
Keywords :
control engineering computing; digital simulation; discrete time systems; embedded systems; robots; continuous time equations; cosimulation; discrete event equations; discrete time equations; integrated models; model driven robot software design; real-time embedded control software; Computational modeling; Hardware; Object oriented modeling; Robots; Safety; Software; Solid modeling;
Conference_Titel :
Embedded Computer Systems (SAMOS), 2012 International Conference on
Conference_Location :
Samos
Print_ISBN :
978-1-4673-2295-9
Electronic_ISBN :
978-1-4673-2296-6
DOI :
10.1109/SAMOS.2012.6404197
