Abstract
Currently, industrial robots are decisive in modern production facilities, and in a near future, robots will also become essential in daily life. In fact, the main aim of robotic manipulator relies on the integration of robots into people’s daily. To this purpose, there are a great number of physical devices, such as sensors, actuators, auxiliary elements, tools etc. which can be incorporated into a robot. Although integration, reuse, flexibility and adaptability are crucial characteristics demanded by current robotic applications, there is a lack of standardization in terms of hardware and software platforms, providing incompatible task-specific and non-reusable solutions. Consequently, there is a need for a new engineering methodology to design, implement and execute software systems. This work explores the advantages that model-driven engineering provides for the development of applications for robotic manipulators’ platforms. Specifically, a modelling approach is developed to generate the target code automatically. To validate the proposal, a tool that allows the final code to be generated for most spread communication middlewares in the robotics field is also presented.
Article PDF
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.Avoid common mistakes on your manuscript.
References
Gil P, Pomares J, Puente ST, Candelas FA, Garcia GJ, Corrales JA, Torres F (2009) A cooperative robotic system based on multiple sensors to construct metallic structures. Int J Adv Manuf Technol 45(5):616–630
Edsinger A (2007) Robot manipulation in human environments. Ph.D. Dissertation, Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science
Marcos F, António Paulo M, Pedro N (2012) A low-cost laser scanning solution for flexible robotic cells: spray coating. Int J Adv Manuf Technol 58:103–1041
Mendes N, Neto P, Simão MA, Loureiro A, Pires JN (2014) A novel friction stir welding robotic platform: welding polymeric materials. Int J Adv Manuf Technol. DOI: 0.1007/s00170-014-6024-z. [Online published]
Dragan M, Milos G, Nikola S, Zoran D, Sasa Z, Branko K, Ljubodrag T (2011) Reconfigurable robotic machining system controlled and programmed in a machine tool manner. Int J Adv Manuf Technol 53l:1217–1229
Chella A, Cossentino M, Gaglio S, Sabatucci L, Seidita V (2010) Agent oriented software patterns for rapid and affordable robot programming. J Syst Softw 83(4):557–573
Iborra A, Caceres DA, Ortiz FJ, Franco JP, Palma PS, Alvarez B (2009) Design of service robots, experiences using software engineering. IEEE Robot Autom Mag 16(1):24–33
Wahl FM, Kroger T (2009) Advances in robotics research: theory, implementation, application. Springer-Verlag Berlin and Heidelberg GmbH & Co. K
Lihui W, Bernard S, Mohammad G, Göran A (2014) Robotic assembly planning and control with enhanced adaptability through function blocks. Int J Adv Manuf Technol. doi:10.1007/s00170-014-6468-1 [Online published]
Heineman GT, Councill WT (2001) Component-based software engineering: putting the pieces together. Addison-Wesley
Sommerville I (2007) Software engineering, eight edition, Pearson Education
Brooks A, Kaupp T, Makarenko A, Williams S, Oreback A (2005) Towards component-based robotics. Proc IEEE Int Conf Intell Robot Syst (IROS) pp: 163-168
Brugali D, Scandurra P (2009) Component-based robotic engineering (part I) reusable building blocks. IEEE Robot Autom Mag 16(4):84–96
Brugali D, Shakhimardanov A (2010) Component-based robotic engineering (part II) systems and models. IEEE Robot Autom Mag 17(1):100–112
Gamez J, Robertsson A, Gomez Ortega J, Johansson R (2008) Sensor fusion for compliant robot motion control. IEEE Trans Robot 24(2):430–441
Selic B (2003) The pragmatics of model-driven development. Softw IEEE 20(5):19–25
Streitferdt D, Wendt G, Nenninger P, Nyßen A, Lichter H ( 2008) Model driven development challenges in the automation domain. Annual IEEE International Computer Software and Applications Conference. Turku, Finland
Balasubramanian K, Gokhale A, Karsai G, Sztipanovits J, Neema S (2006) Developing applications using model-driven design environments. Computer 39(2):33–40
Schmidt D (2006) Guest editor’s introduction: model-driven engineering. Computer 39(2):25–31
Sharygina N, Browne JC, Kurshan RP (2001) A formal object-oriented analysis for software reliability: design for verification. Lect Notes Comp Sci Fundam Approaches Softw Eng 2029:318–332
Arun Kumar R, Bruno M, Adriana T (2014) Solution space modeling for robotic systems. J Softw Eng Robot (JOSER) 5(1):89–96
Geisinger M, Barner S, Wojtczyk M, Knoll A (2009) A software architecture for model-based programming of robot systems. Lect Notes Comput Sci Adv Robot Res pp. 135–146
Alonso D, Vicente-Chicote C, Ortiz F, Pastor J, Álvarez B (2010) V3CMM: a 3-view component meta-model for model-driven robotic software development. J Softw Eng Robot 1(1):3–17
SmartSoft MDSD Toolchain (2013) SmartSoft model driven development software design toolchain, [Online] Available at: http://smart-robotics.sourceforge.net/index.php
Christian S, Alex L, Matthias L, Dennis S, Inglés-Romero JF, Cristina V-C (2013) Model-driven software systems engineering in robotics: covering the complete life-cycle of a robot. Workshop Roboter-Kontrollarchitekturen, Informatik 2013. Springer LNI der GI, Koblenz, pp 2780–2794
Schlegel C, Steck A, Lotz A (2012) Robotic software systems: from code-driven to model-driven software development. Robot Autom Robot Syst Appl Control Program Intechopen pp:473-502
Schlegel C, Steck A, Lotz A (2012) Model-driven software development in robotics: communication patterns as key for a robotics component model. In: Introduction to modern robotics. iConcept Press
Zahavi R (2000) Enterprise application integration with CORBA. Wiley, New York
Brugali D, Gherardi L, Luzzana A, Zakharov A ( 2012) A reuse-oriented development process for component-based robotic system. In: Proc. of the 3rd International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR)
BRICS-Best Practice in Robotics Project, [Online] Available at: http://www.best-of-robotics.org
Bruyninckx H (2001) Open robot control software: the OROCOS project. In: Proc IEEE Int Conf Robot Autom (ICRA), pages 2523–2528. Seoul, Korea
Russell J, Cohn R (2012) ROS (robotic operating system), VSD
Miller J, Mukerji J (2001). Model driven architecture (MDA). OMG, ormsc/2001-07-01, Architecture Board ORMSC1, July 2001
Booch G, Rumbaugh J, Jacobson I (2005) The unified modeling language user guide, 2nd Edition, Addison-Wesley Professional
Jones L, Fowler J, James S, Fu Y (2012) UML based design of LEGO Robots. Proc Int Conf Softw Eng Res Pract pp:10-16
Layne A, Mason A, Fu Y, Wagaw M (2012) UML model based design of the claw car robot. Proc Int Conf Softw Eng Res Pract pp:3-9
Kim M, Kim S, Park S, Choi M-T, Kim M, Gomaa H (2008) UML-based service robot software development: a case study, Advances in service robotics, Ahn HS (ed.), ISBN: 978-953-7619-02-2, InTech, DOI: 10.5772/5947
OMG. Meta Object Facility (MOF) 2.x XMI mapping specification. [Online] Available: http://www.omg.org/spec/XMI/ , Last access in March 2014
Sanchez Garcia A, Estevez E, Gomez Ortega J, Gamez Garcia J ( 2013) Component-based modelling for generating robotic arm applications running under OROCOS middleware. Proc IEEE Int Conf Syst Man Cybern pp: 3633-3638
Salmini A, Tomba F (2011) Communicating with XML. Springer, New York
Deliverable D-2.1 Best practice assessment of software technologies for robotics, [Online] Available: http://www.best-of-robotics.org/pages/publications/BRICS_Deliverable_D2.1.pdf . Last Access in May 2015
OPENRTM [Online] Website: http://www.openrtm.org/openrtm/en/node/780 . Last Access in May 2015
Gerkey B, Vaughan R, Howard A (2003) The player/stage project: tools for multi-robot and distributed sensor systems. In Proc. of the International Conference on Advanced Robotics
ROS-INDUSTRIAL, [Online] Website: http://rosindustrial.org/. Last Access in May 2015
OROCOS—the deployment component (2012). [Online]. http://www.orocos.org/stable/documentation/ocl/v2.x/docxml/orocos-deployment.html . Last Access in May 2015
Tidwell D (2001) XSLT, Ed. O’REILLY
Estévez E, Marcos M, Orive D (2007) Automatic generation of PLC automation projects from component-based models. Int J Adv Manuf Technol 35(5–6):527–5440
Satorres Martínez S, Gómez Ortega J, Gámez García J, Sánchez García A, Estévez Estévez E (2013) An industrial vision system for surface quality inspection of transparent parts. Int J Adv Manuf Technol 68(5-8):1123–1136
Gomez Ortega J, Gamez Garcia J, Satorres-Martínez S, Sanchez Garcia A (2011) Industrial assembly of parts with dimensional variations. Case study: assembling vehicle headlamps. Robot Comput Integr Manuf 27(6):1001–1010
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Estévez, E., Sánchez-García, A., Gámez-García, J. et al. A novel model-driven approach to support development cycle of robotic systems. Int J Adv Manuf Technol 82, 737–751 (2016). https://doi.org/10.1007/s00170-015-7396-4
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00170-015-7396-4