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

Author

Carroll, L. ; Tondu, B. ; Baron, C. ; Geffroy, J.C.

Author_Institution

Lab. d´´Etudes des Syst. Inf. et Autom., Inst. Nat. des Sci. Appliquees, Toulouse, France

Volume

4

fYear

1998

fDate

11-14 Oct 1998

Firstpage

3394

Abstract

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

Keywords

control system synthesis; manipulators; object-oriented methods; real-time systems; SART; UML; development methods; functional decomposition; object-oriented methodology; real-time robot controller design; robot-manipulator controllers; Application software; Automatic control; Control systems; Force control; Intelligent robots; Object oriented modeling; Real time systems; Robot control; Robotics and automation; Unified modeling language;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1998. 1998 IEEE International Conference on

Conference_Location

San Diego, CA

ISSN

1062-922X

Print_ISBN

0-7803-4778-1

Type

conf

DOI

10.1109/ICSMC.1998.726528

Filename

726528