基于集成模型和协同仿真的模型驱动机器人软件设计

2012 International Conference on Embedded Computer Systems (SAMOS) Pub Date : 2012-07-16 DOI:10.1109/SAMOS.2012.6404197

J. Broenink, Yunyun Ni

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引用次数: 22

摘要

这里介绍的工作是关于机器人的硬实时嵌入式控制软件的设计方法，即机电产品。整个机器人系统(机器、控制、软件和I/O)的行为是相关的，因为机器的动力学影响机器人软件。因此，我们使用了两种合适的计算模型，分别表示机器/机器人部分的连续时间方程和控制软件部分的离散事件/离散时间方程。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Model-driven robot-software design using integrated models and co-simulation

The work presented here is on a methodology for design of hard real-time embedded control software for robots, i.e. mechatronic products. The behavior of the total robot system (machine, control, software and I/O) is relevant, because the dynamics of the machine influences the robot software. Therefore, we use two appropriate Models of Computation, which represent continuous-time equations for the machine / robot part, and discrete event / discrete time equations for the control software part.

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来源期刊

2012 International Conference on Embedded Computer Systems (SAMOS)

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