By Topic

A structured methodology for the design and implementation of control and supervision systems for robotic applications

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Ferrarini, L. ; Dept. of Electron. & Comput. Sci., Politecnico di Milano, Milan, Italy ; Carpanzano, E.

The adoption of a structured development methodology, based on a design cycle and on formal reference models, is a key issue to manage, possibly in a step-by-step fashion, the design of industrial control and supervision systems, as there are in modern robotic applications. In the present work, a development technique is illustrated, which extends some of the most relevant solutions and methods used to effectively deal with the design of complex control systems and integrates them into a structured methodology with analysis and simulation facilities. The main discriminating features of the presented framework are: the object-oriented approach, compliance with international standards for control software specification, hybrid dynamic models and automatic code generation. The development and implementation of a robot mission for a six degree-of-freedom manipulator is illustrated to highlight the benefits and advantages of the proposed methodology

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:10 ,  Issue: 2 )