Proceedings Article10.1109/SAMOS.2012.6404197
Model-driven robot-software design using integrated models and co-simulation
Jan F. Broenink,Yunyun Ni +1 more
- 16 Jul 2012
- pp 339-344
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TL;DR: The work presented here is on a methodology for design of hard real-time embedded control software for robots, i.e. mechatronic products, which uses two appropriate Models of Computation, which represent continuous-time equations for the machine / robot part, and discrete event / discrete time equation for the control software part.
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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.
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Citations
Software In the Loop Simulation for Robot Manipulators
TL;DR: A Software In the Loop (SIL) test for robot manipulator driven by a Brushless DC Motor without a target system hardware is proposed and results prove the rapidity and the good performance of the developed code for the controller’s part by the validation of the behavior of robot manipulation software.
Model-based engineering & simulation of software-intensive systems-of-systems: experience report and lessons learned
Valdemar Vicente Graciano Neto,Wallace Manzano,Mohammad Kassab,Elisa Yumi Nakagawa +3 more
- 24 Sep 2018
TL;DR: The main contribution of this paper is reporting the results and advances achieved in the last five years of research on the use of M&S techniques to support Software Engineering of SoS.
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Control Parameters Optimization Based on Co-Simulation of a Mechatronic System for an UA-Based Two-Axis Inertially Stabilized Platform
TL;DR: The results show that the co-simulation by using virtual prototyping (VP) is effective to obtain optimized ISP control parameters, eventually leading to high ISP control performance.
15
Virtual prototyping of embedded control software in mechatronic systems: A case study
TL;DR: An integrated virtual prototyping approach for analyzing the system behavior down to embedded software level is proposed, that can be used in a wide number of situations that can represent the actual real-world operational conditions of consumer products.
14
Robust autonomy for interactive robots
Yury Brodskiy
- 20 Feb 2014
TL;DR: The threats to reliability and robustness of the motion controlSoftware addressed in this work allow to improve quality motion control software and to compliment it with fault-tolerance algorithms.
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