RobotML for industrial robots: Design and simulation of manipulation scenarios

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.

[1]  Sébastien Gérard,et al.  Control Architecture Concepts and Properties of an Ontology Devoted to Exchanges in Mobile Robotics , 2011 .

[2]  Tewfik Ziadi,et al.  A Top-Down Approach to Managing Variability in Robotics Algorithms , 2013, ArXiv.

[3]  Christian Schlegel,et al.  Communication Patterns as Key towards Component-Based Robotics , 2006 .

[4]  Sébastien Gérard,et al.  Executable Modeling with fUML and Alf in Papyrus: Tooling and Experiments , 2015, EXE@MoDELS.

[5]  Eelco Visser,et al.  DSL Engineering - Designing, Implementing and Using Domain-Specific Languages , 2013 .

[6]  Reid G. Simmons,et al.  Robotic Systems Architectures and Programming , 2008, Springer Handbook of Robotics.

[7]  Sebastian Wrede,et al.  A Survey on Domain-Specific Languages in Robotics , 2014, SIMPAR.

[8]  Christian Schlegel,et al.  Service Robot Control Architectures for Flexible and Robust Real-World Task Execution: Best Practices and Patterns , 2014, GI-Jahrestagung.

[9]  Francisco José Ortiz Zaragoza,et al.  V3CMM: a 3-view component meta-model for model-driven robotic software development , 2010 .

[10]  Tewfik Ziadi,et al.  RobotML, a Domain-Specific Language to Design, Simulate and Deploy Robotic Applications , 2012, SIMPAR.

[11]  Arie van Deursen,et al.  Domain-specific languages: an annotated bibliography , 2000, SIGP.

[12]  Markus Völter,et al.  Model-Driven Software Development: Technology, Engineering, Management , 2006 .

[13]  Herman Bruyninckx,et al.  The 5C-based architectural Composition Pattern: lessons learned from re-developing the iTaSC framework for constraint-based robot programming , 2014 .

[14]  Bruce A. MacDonald,et al.  Simulation, Modeling, and Programming for Autonomous Robots: 4th International Conference, SIMPAR 2014, Bergamo, Italy, October 20-23, 2014 , 2014 .

[15]  Herman Bruyninckx,et al.  The BRICS component model: a model-based development paradigm for complex robotics software systems , 2013, SAC '13.

[16]  C. Schlegel,et al.  Model-Driven Software Development in Robotics : Communication Patterns as Key for a Robotics Component Model , 2011 .

[17]  Loïc Cudennec,et al.  Towards Flexibility in Future Industrial Manufacturing: A Global Framework for Self-organization of Production Cells , 2016, ANT/SEIT.