A structured methodology for the design and implementation of hybrid robot controllers

A structured methodology for hybrid robot controllers design is presented. The key elements of the proposed technique are: the object-oriented approach, compliance with international standards, hybrid models and automatic code generation. In particular, a life cycle model for the control system development is considered, functional and implementation reference models are introduced, and a computer aided control system design environment is described. Such tools support the robot controller design, by means of structured modelling, simulation and run-time control generation. Furthermore, the development and implementation of robot mission for an industrial manipulator is illustrated as an application example of the proposed methodology, showing how the different design phases are dealt with