RobotML for industrial robots: Design and simulation of manipulation scenarios
| Autor: | Saadia Dhouib, Max Da Silva Simoes, Baptiste Gradoussoff, Jérémie Tatibouet, Selma Kchir |
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| Přispěvatelé: | Département Intelligence Ambiante et Systèmes Interactifs (DIASI), Laboratoire d'Intégration des Systèmes et des Technologies (LIST), Direction de Recherche Technologique (CEA) (DRT (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Direction de Recherche Technologique (CEA) (DRT (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Université Paris-Saclay, Département Ingénierie Logiciels et Systèmes (DILS), Laboratoire d'Intégration des Systèmes et des Technologies (LIST (CEA)) |
| Jazyk: | angličtina |
| Rok vydání: | 2016 |
| Předmět: |
Engineering
Industrial plants Collaborative robots Complex system 02 engineering and technology Design and simulation Model-driven Engineering Domain (software engineering) [SPI]Engineering Sciences [physics] Unified Modeling Language Human–computer interaction 0202 electrical engineering electronic engineering information engineering Design models [INFO]Computer Science [cs] computer.programming_language Robotic systems Validation approach Robot kinematics business.industry Multi-disciplinary approach 020207 software engineering Control engineering Robotics Industrial manipulators Robotic paradigms Factory automation Modelling environment Machine design Robot 020201 artificial intelligence & image processing Mobile telephony Artificial intelligence business computer Robots [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing Industrial robots |
| Zdroj: | 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA) 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), Sep 2016, Berlin, Germany. ⟨10.1109/ETFA.2016.7733727⟩ ETFA |
| DOI: | 10.1109/ETFA.2016.7733727⟩ |
| Popis: | Conference of 21st IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2016 ; Conference Date: 6 September 2016 Through 9 September 2016; Conference Code:124646; International audience; Robotic systems are a typical example of complex systems. Their design involves a combination of different technologies, requiring a multi-disciplinary approach. This is particularly challenging when a robotic system is required to interact either with humans or other entities within its environment. To tackle this complexity, we propose a design and validation approach based on MDE (Model-Driven Engineering) principles for industrial manipulators. We propose an extension of RobotML for manipulation, a modelling environment based on the Papyrus tool, which was developed specifically for the robotics domain. The extension is aiming to model a complete robotic setting, including protagonists, objects, their properties, the interactions between them, the services provided by the robots, and the actions they can perform. Then we propose to use model execution techniques to validate the design models. We illustrate our approach on a robotic scenario dedicated to the Sybot collaborative robot. |
| Databáze: | OpenAIRE |
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