Reference models for the supervision and control of advanced industrial manipulators

Proposes a structured development methodology, based on a design cycle and on formal reference models, to manage complex control systems design for advanced industrial manipulators. Discriminating ingredients of the proposed technique are the object-oriented approach, compliance with international standards and automatic code generation. With the help of a CACSD environment specifically developed, a supervisor and a low-level controller have been designed and implemented for an advanced industrial manipulator, adopting the proposed models and methodology