Domain-Specific Modeling for Robotics: From Language Construction to Ready-made Controllers and End-user Applications

Abstract

We present an approach and tools implemented for model-driven development of robotics using Domain-specific Modeling (DSM). Special attention is paid to the automatic generation of robot control logic, and facilitation of the validation and certification of software components. We describe the approach using practical examples on how to construct and use domain-specific languages for modeling (1) topological properties of a robot arm, (2) robot controllers, (3) robot actions and activities as well as (4) generating and verifying end-user applications from the models. Additionally, we describe on how to build DSM tools for visual debugging and how to include generation of documents in a model-level debugging scenario. Using fast code generators and adaptive run-time systems our tool chain supports generation, incremental update and execution of native code for various hardware platforms and operating systems "on hot". Our approach is applicable to both industrial and human-like robots and is verified by developing practical robot applications.