ORCCAD: Software engineering for real-time robotics a technical insight

Robotica

Volumn 15, Issue 1, 1997, Pages 111-115

  Simon, D ^a   Espiau, B ^b   Kapellos, K ^a   Pissard Gibollet, R ^b  

^a INRIA   (France)

^b INRIA RHÔNE ALPES   (France)

Author keywords

Control laws; ORCCAD; Robotic systems

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; FORCE CONTROL; MOBILE ROBOTS; POSITION CONTROL; ROBOT PROGRAMMING; ROBOTIC ARMS; SOFTWARE ENGINEERING;

CONTROL LAW; ORCCAD PROGRAMMING ENVIRONMENT; ROBOT PROCEDURE; ROBOT TASK;

ROBOTICS;

EID: 0030828624     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574797000131     Document Type: Article

References (14)

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2. C. Samson, M. Le Borgne and B. Espiau Robot Control: the Task-Function Approach (Clarendon Press, Oxford Science Publications, U.K., 1991).
3. B. Espiau. K. Kapellos, M. Jourdan and D. Simon, "On the Validation of Robotics Control Systems. Part I: High level Specification and Formal verification" Inria Research Report No 2719 (November, 1995).
4. G. Berry and G. Gonthier, "The Synchronous Programming Language ESTEREL: Design, Semantics, Implementation" Science Of Computer Programming 19, No. 2, 87-152 (1992).
5. K. Kapellos and B. Espiau, "Implementation with Orccad of a Method for Smooth Singularity Crossing in a 6-DOF Manipulator" Inria Research Report No 2654 (September, 1995).
6. D. Simon, K. Kapellos and B. Espia, "Control Laws, Tasks and Procedures with ORCCAD: Application to the Control of an Underwater Arm" Preprints of 6th IARP workshop on Underwater Robotics, Toulon, France (March, 1996). (In press).
7. B. Espiau, K. Kapellos, E. Coste-Manière and N. Turro, "Formal mission specification in an open architecture" Preprints of Intl Symposium on Robotics and Manufacturing ISRAM96, Montpellier, France (May, 1996). (In press).
8. D. Simon, E. Castillo and P. Freedman, "On the Validation of Robotics Control Systems. Part II: Analysis of real-time closed-loop control tasks" Inria Research Report No 2720 (November, 1995).
9. G. Boudol, V. Roy, R. de Simone and D. Vergamini, "Process calculi, from theory to practice: Verification tools" International Workshop on Automatic Verification Methods for Finite State Systems, LNCS, Grenoble (Springer Verlag, Berlin, 1990) pp. 1-10.
10. C. Astraudo and J.J. Borrelly, "Simulation of Multiprocessor Robot Controllers" Proc. IEEE Int. Conf. on Robotics and Automation. Nice (May, 1992) pp. 573-578.
11. K. Kapellos "Environnement de programmation des applications robotiques réactives" Ph.D. dissertation (Ecole des Mines de Paris, Sophia Antipolis, France, November, 1994).
12. R. Pissard-Gibollet, K. Kapellos, P. Rives and J.J. Borrelly, "Real-Time Programming of Mobile Robot Actions Using Advanced Control Techniques" 4th Int. Symp. on Experimental Robotics, Stanford, USA (June 30-July 2, 1995) pp. 345-357.
13. K. Kappelos. S. Abdou. M. Jourdan and B. Espiau, "Specification, Formal Verification and Implementation of Tasks and Missions for an Autonomous Vehicle" 4th Int. Symp. on Experimental Robotics. Stanford, USA, (June 30-July 2, 1995) pp. 257-262.
14. M. Parent, S. Abdou and B. Espiau, "Specify, Validate and Implement Missions for Autonomous Vehicles" Preprints of Intl Symposium on Robotics and Manufacturing ISRAM'96, Montpellier, France (May, 1996) (In press).