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RobotML for industrial robots: Design and simulation of manipulation scenarios

Abstract : 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.
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https://hal-cea.archives-ouvertes.fr/cea-01841167
Contributor : Léna Le Roy <>
Submitted on : Tuesday, July 17, 2018 - 10:15:49 AM
Last modification on : Monday, February 10, 2020 - 6:14:14 PM

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S. Kchir, S. Dhouib, J. Tatibouet, B. Gradoussoff, M. da Silva Simoes. RobotML for industrial robots: Design and simulation of manipulation scenarios. 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), Sep 2016, Berlin, Germany. ⟨10.1109/ETFA.2016.7733727⟩. ⟨cea-01841167⟩

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