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A Graphical Language for Real-Time Critical Robot Commands

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arxiv 1303.6777 v1 pith:55T4X6B7 submitted 2013-03-27 cs.RO cs.PLcs.SE

A Graphical Language for Real-Time Critical Robot Commands

Andreas Angerer , Remi Smirra , Alwin Hoffmann , Andreas Schierl , Michael Vistein , Wolfgang Reif This is my paper
classification cs.RO cs.PLcs.SE
keywords languagerobotgraphicalreal-timearchitecturecommandscomplexcritical
verification ladder T0 review T1 audit T2 compute T3 formal T4 reserved
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Industrial robotics is characterized by sophisticated mechanical components and highly-developed real-time control algorithms. However, the efficient use of robotic systems is very much limited by existing proprietary programming methods. In the research project SoftRobot, a software architecture was developed that enables the programming of complex real-time critical robot tasks with an object-oriented general purpose language. On top of this architecture, a graphical language was developed to ease the specification of complex robot commands, which can then be used as part of robot application workflows. This paper gives an overview about the design and implementation of this graphical language and illustrates its usefulness with some examples.

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